According to Keats-Rohan, his parentage is unknown, but he probably derived his surname from Ros in Holderness, Yorkshire. He was steward (dapifer) of the Count of Aumale, lord of Holderness. Piers gave land in Gilling near Helmsley, and the church, to St. Mary's Abbey in Yorkshire.[1] He has been detached from Malcolm Ros as a father due to lack of proof.
Through his wife Adeline Espec, youngest sister and coheir of Walter Espec, his family became lords of the feudal barony of Helmsley, in Holderness.[2] His known children:
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