On 12th April 1363 [his father] Thomas Ros 4th Baron Ros Helmsley and [his mother] Beatrice Stafford Countess Desmond were married. She the daughter of [his grandfather] Ralph Stafford 1st Earl Stafford and [his grandmother] Margaret Audley Countess Stafford.
Around 1370 William Ros 6th Baron Ros Helmsley was born to Thomas Ros 4th Baron Ros Helmsley and Beatrice Stafford Countess Desmond at Stoke Albany, Northamptonshire.
On 22nd June 1382 [his brother] John Ros 5th Baron Ros Helmsley and [his sister-in-law] Mary Percy Baroness Ros of Helmsley were married. She by marriage Baroness Ros Helmsley. He the son of [his father] Thomas Ros 4th Baron Ros Helmsley and [his mother] Beatrice Stafford Countess Desmond.
On 8th June 1384 [his father] Thomas Ros 4th Baron Ros Helmsley died at Uffington. He was buried at Rievaulx Abbey, Yorkshire. [his brother] John Ros 5th Baron Ros Helmsley succeeded 5th Baron Ros Helmsley and inherited Belvoir Castle.
In 1391 [his brother-in-law] Thomas Clifford 6th Baron Clifford died. [his nephew] John Clifford 7th Baron Clifford succeeded 7th Baron de Clifford, 7th Lord Skipton. However, given his young age his mother's brother William Ros 6th Baron Ros Helmsley enjoyed the benefit of his wardship until he came of age around Sep 1411.
On 6th August 1393 [his brother] John Ros 5th Baron Ros Helmsley died at Paphos returning from Pilgrimage. He was buried at Rievaulx Abbey, Yorkshire. William Ros 6th Baron Ros Helmsley succeeded 6th Baron Ros Helmsley and inherited Belvoir Castle.
Around 1394 [his son] Robert Ros was born to William Ros 6th Baron Ros Helmsley and [his wife] Margaret Fitzalan Baroness Ros of Helmsley. He married 1. after 25th January 1433 Margaret Tuchet Countess Tankerville, daughter of James Tuchet 5th Baron Audley, 2nd Baron Tuchet and Eleanor Holland Baroness Audley Heighley 2. after 25th January 1433 Anne Halsham and had issue.
Around 1394 William Ros 6th Baron Ros Helmsley and Margaret Fitzalan Baroness Ros of Helmsley were married. She by marriage Baroness Ros Helmsley. She brought a 40 mark annuity to the marriage awarded to her by King Richard II of England following the death of his wife Anne of Bohemia Queen Consort England in whose household she had been. She the sister of the Earl of Arundel. He the son of Thomas Ros 4th Baron Ros Helmsley and Beatrice Stafford Countess Desmond.
On 25th August 1394 [his former sister-in-law] Mary Percy Baroness Ros of Helmsley died. Her late husband's brother John Ros 5th Baron Ros Helmsley received her dower lands which included Helmsley.
On 4th November 1396 King Richard II of England and Isabella Valois Queen Consort England were married. The marriage being one of the terms of a twenty-eight year peace treaty with France. He twenty-nine, she six. The marriage sowed the seeds subsequent rebellion since there was no prospect of an heir to secure the Crown. The difference in their ages was 22 years. She the daughter of Charles "Beloved Mad" VI King France and Isabeau Wittelsbach Queen Consort France. He the son of Edward "Black Prince" and Joan "Fair Maid of Kent" Princess Wales.
William Ros 6th Baron Ros Helmsley attended.
Around 1397 [his son] John Ros 7th Baron Ros Helmsley was born to William Ros 6th Baron Ros Helmsley and [his wife] Margaret Fitzalan Baroness Ros of Helmsley. He married before 22nd March 1421 Margery Despencer 3rd Baroness Despencer, Baroness Ros, daughter of Philip Despencer 2nd Baron Despencer and Elizabeth Tiptoft Baroness Despencer.
In or after 1398 [his son] William Ros was born to William Ros 6th Baron Ros Helmsley and [his wife] Margaret Fitzalan Baroness Ros of Helmsley.
Around 4th July 1399 Henry Bolingbroke Earl of Derby landed at Ravenspur with Thomas Rempston.
William Ros 6th Baron Ros Helmsley joined Henry Bolingbroke Earl of Derby with a large retinue.
On 19th August 1399 King Richard II of England surrendered to Henry Bolingbroke Earl of Derby at Flint Castle. William Ros 6th Baron Ros Helmsley was present [Note. Wikipedia states Berkeley Castle?]
On 29th September 1399 King Richard II of England abdicated King of England at the Tower of London. William Ros 6th Baron Ros Helmsley, Thomas Grey, William Willoughby 5th Baron Willoughby, Hugh Burnell 2nd Baron Burnell and Thomas Rempston were present.
In October 1399 William Ros 6th Baron Ros Helmsley was appointed Trier of Petitions at Henry IV's first Parliament.
In December 1399 William Ros 6th Baron Ros Helmsley was appointed to Henry IV's Royal Council.
Around 1402 William Ros 6th Baron Ros Helmsley was appointed Lord High Treasurer.
Around 1404 William Ros 6th Baron Ros Helmsley was appointed 108th Knight of the Garter by King Henry IV of England.
In 1406 William Ros 6th Baron Ros Helmsley was granted an annuity of 100 marks a year as the king's retainer.
Around 1406 [his son] Robert Ros of Gedney was born to William Ros 6th Baron Ros Helmsley and [his wife] Margaret Fitzalan Baroness Ros of Helmsley. He married before 23rd June 1432 Joan Skelton and had issue.
On 26th September 1407 [his son] Thomas Ros 8th Baron Ros Helmsley was born to William Ros 6th Baron Ros Helmsley and [his wife] Margaret Fitzalan Baroness Ros of Helmsley. He married before 9th September 1427 Eleanor Beauchamp Duchess Somerset, daughter of Richard Beauchamp 13th Earl Warwick and Elizabeth Berkeley Countess Warwick, and had issue.
On 1st September 1414 William Ros 6th Baron Ros Helmsley died. [his son] John Ros 7th Baron Ros Helmsley succeeded 7th Baron Ros Helmsley.
After 1st September 1414 William Ros 6th Baron Ros Helmsley was buried at Belvoir Priory. At the dissolution of the monasteries his monument was moved to the Chancel of St Mary the Virgin Church, Bottesford, Leicestershire on the right side of the High Altar. Alabaster Monument of the Camail and Jupon Period. Possibly Sutton and Prentys.

Detail of the Ros Family Peacock Crest surmounting his Great Helm.
Detail of decorated Orle and Vervelle Cover.
Detail of Lancastrian Esses Collar and face. Note the twisted moustache that is frequently seen on Sutton and Prentys monuments. The fixing of the Esses Collar to the Camail using a small trefoil.
In July 1439 [his former wife] Margaret Fitzalan Baroness Ros of Helmsley died.
[his daughter] Elizabeth Ros Baroness Marshal Baroness Morley was born to William Ros 6th Baron Ros Helmsley and Margaret Fitzalan Baroness Ros of Helmsley. She married before May 1442 Robert Morley 7th Baron Marshal 6th Baron Morley, son of Thomas Morley 6th Baron Marshal 5th Baron Morley and Isabel Pole Baroness Marshal and Morley, and had issue.
[his daughter] Beatrice Ros was born to William Ros 6th Baron Ros Helmsley and Margaret Fitzalan Baroness Ros of Helmsley.
[his daughter] Alice Ros was born to William Ros 6th Baron Ros Helmsley and Margaret Fitzalan Baroness Ros of Helmsley.
[his son] Richard Ros was born to William Ros 6th Baron Ros Helmsley and Margaret Fitzalan Baroness Ros of Helmsley.
Maurice Fitzgerald 2nd Earl Desmond and [his mother] Beatrice Stafford Countess Desmond were married. She by marriage Countess Desmond. She the daughter of [his grandfather] Ralph Stafford 1st Earl Stafford and [his grandmother] Margaret Audley Countess Stafford. He the son of Maurice Fitzgerald 1st Earl Desmond and Catherine Burgh.
[his daughter] Margaret Ros Baroness Audley Heighley was born to William Ros 6th Baron Ros Helmsley and Margaret Fitzalan Baroness Ros of Helmsley. She married 24th February 1415 James Tuchet 5th Baron Audley, 2nd Baron Tuchet, son of John Tuchet 4th Baron Audley, 1st Baron Tuchet and Elizabeth Stafford Baroness Audley Heighley, and had issue.