Henry was the younger son of Roger de Beaumont and Adeline of Meulan. He inherited the modest lordship of La Neubourg, in central Normandy, but aquired a much greater holding in England, when, in reward for help in supressing the rebellion of 1088, William II of England made him Earl of Warwick.
Henry was one of those who immediately supported Henry I after the death of William II. He had been close to Henry II before the latter became king, and remained loyal (along with his brother) to the king when his rule was challenged by Robert Curthose.
Some time between 1106 and 1116 he was granted the lordship of Gower in Wales.
Henry was by disposition quiet and retiring, and was overshadowed by his elder brother Robert of Meulan, reputedly one of the most brilliant men in England.
He married Margaret, daughter of Geoffrey of Perche, and had, along with other children: