Maud's sister Blanche was also born at Bolingbroke.
Maud was Grosmont's eldest daughter, her paternal grandparents were Henry of Lancaster and Maud de Charworth and her maternal grandparents were Henry Beaumont and Alice de Comyn. Both sets of grandparent held land in Lincolnshire and Leicestershire. Her Beaumont grandparent's Lincolnshire estates were granted as a result of their association with the royal family. Edward II granted them a number of manor including Folkingham, Goady and Barton upon Humber.
On Grosmont's death in 1361, Maud and Blanche became wealthy heiresses, however the Earldom of Leicester passed to Maud's first husband and then on his death in 1389 to her sister Blanche's husband John of Gaunt, who was granted the Dukedom of Lancaster as a second creation.
On Maud's death on the 10th April 1362 Gaunt received her money and her lands to add to that of his wife share of the family estate. The Grosmont inheritance formed the foundations on which the Lancastrian's built their dynasty.