He succeeded his father as Lord Audley on 30 December 1563, and served in Parliament from 30 September 1566 to 5 April 1814. He was a Fellow of Magdalene College, Oxford. He was Governor of Utrecht in the Netherlands, and Goveror of Kells (County Meath, Ireland). He was wounded at the battle of Kingsale, 24 December 1601. He resided primarily in Ireland and was summoned by writ to the Irish House of Lords 11 March 1613/4.
He was created Baron Audley of Orier (County Armagh) and Earl of Castlehaven (County Cork) on 6 September 1616 in the Peerage of Ireland.
In the late 1570s or early 1580s he married Lucy Mervyn, only child of Sir James Mervyn and of his wife Amy Clark.
They had seven children:
The administration of his will was granted to his daughter Eleanor, wife of Sir Archibald Douglas. He was succeeded as Earl of Castlehaven by his son, Mervyn. His widow married Sir Piers Crosby on 6 March 1618/9, and was living in 1644.
{| border="2" align="center"
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|width="30%" align="center"|Preceded by:
New Creation
|width="40%" align="center"|Earl of Castlehaven
|width="30%" align="center" rowspan="2"|Followed by:
Mervyn Tuchet
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|width="30%" align="center"|Preceded by:
Nicholas Tuchet
|width="40%" align="center"|Baron Audley
|}