His son Henry had issue, including a line which carried the Stafford name and title into the Howard family.
His daughter Elizabeth married the Duke of Norfolk and has many descendants.
His daughter Catherine married the 4th Earl of Westmorland and had issue extinct in the male line, though I don't know whether she has issue in the female lines.
His daughter Mary married Lord Bergavenny and has descendants, including the later Earls of Westmorland.