Hugh

Hugh Fitzwilliam was the son of Sir Ranulf Fitzwilliam and Isabella Fitzwilliam. In March 1215, he jousted with Sir Gilles Estram and lost, but the Fifth Doctor asked King John to have his life spared. He later took Turlough to the dungeon and threatened to torture him, but he was stopped by Sir Gilles, who imprisoned him and his mother there as well. The Master later freed them, claiming that the Doctor was manipulating the King.

Biography from the TARDIS Data Core article, licensed under CC-BY-SA