On 16 June 1795,[7] Sir Richard married Charlotte Georgiana Jerningham, a daughter of Sir William Jerningham, 6th Baronet of Costessey and Hon. Frances Dillon (a daughter of the 11th Viscount Dillon), at St George's, Hanover Square.[6] Among her siblings was brother George Stafford-Jerningham, 8th Baron Stafford.[8] Together, they were the parents of four sons and four daughters, including:[9]
- Frances "Fanny" Charlotte Bedingfeld (1796–1822), who married William Petre, 11th Baron Petre, son of Robert Petre, 10th Baron Petre and Mary Bridget Howard (sister of the 12th Duke of Norfolk), in 1815.[5]
- Matilda Mary Bedingfeld (1797–1881), who married George Stanley Cary of Fullaton in Devonshire, son of Edward Cary and Camilla Annabella Fleming, in 1820.[5]
- Agnes Mary Bedingfeld (1798–1870), who married Maj. Thomas Molyneux-Seel of Hurst House, Lancashire and Bolton Park, in 1823.[5]
- Sir Henry Richard Paston-Bedingfeld, 6th Baronet (1800–1862),[a] who married Margaret Anne Paston, daughter of Edward Paston, in 1826.[1]
- Charlotte Eliza Bedingfeld (1802–1876), who became a nun.[6]
- Charles Richard Bedingfeld (1803–1870), an officer in the Austrian service who married Agnes Waterton, daughter of C. Waterton of Woodlands, Yorkshire, in 1840.[6]
- Edward Richard Bedingfeld (1805–1823), a midshipman in the Royal Navy who was drowned at sea in 1823.[6]
- Felix William George Richard Bedingfeld (1808–1884), who married Mary Woodward Lightbourn Chads, eldest daughter of John Cornell Chads, Governor of the British Virgin Islands, in 1849.[6]
Sir Richard died in Windsor on 22 November 1829 while on his way to London to visit Lord Dillon at Ditchley.[6] He was succeeded in the baronetcy by his son, Henry. His will was proven (by probate) in February 1830.[1] His widow, who was granted the precedence of the daughter of a baron in 1831, was a Woman of the Bedchamber to Queen Adelaide, died in London on 29 July 1854.[1]
Through his eldest daughter Fanny, who died in childbirth, he was a grandfather of four, including William Bernard Petre, 12th Baron Petre (1817–1884), Hon. Mary Agness Petre (wife of James Alexander Douglas), politician Hon. Henry William Petre (father of Francis Petre),[11][12][13] and Hon. Charlotte Elizabeth Petre (wife of Capt. Charles Edward Petre).[11]
Through his only son Henry, he was a grandfather of Matilda Charlotte Paston-Bedingfeld (wife of George Henry Neville), Mary Gabrielle Paston-Bedingfeld (wife of Ferdinand John Eyre), Mary Geraldine Paston-Bedingfeld (wife of Edward Southwell Trafford), Sir Henry Paston-Bedingfeld, 7th Baronet (who married Augusta Lucy Clavering), and Lt.-Col. Raoul Stephen Paston-Bedingfeld of the Prince of Wales's Own Norfolk Artillery (who married Katherine Gregory Walker).[1]