Henry Percy was originally a follower of Edward III of England, for whom he held high offices in the administration of northern England. He went on to support King Richard II. He was given the title of Marshal of England and created an Earl at Richard's coronation (1377). After Richard elevated his rival Ralph Neville to the position of Earl of Westmorland in 1397, Percy supported the rebellion of Henry Bolingbroke, who became King as Henry IV.

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The Percy rebellion failed at the Battle of Shrewsbury, where Hotspur was killed. Since the earl did not directly participate in the rebellion, he was not convicted of treason. However, he lost his office as Constable. In 1405 Percy supported Richard le Scrope, Archbishop of York, in another rebellion, after which Percy fled to Scotland, and his estates were confiscated by the King.

In 1408 Percy invaded England in rebellion once more and was killed at the Battle of Bramham Moor. Percy's severed head was subsequently put on display at London Bridge.