William Herbert's body was taken for burial at Tintern Abbey. In his will Herbert instructed his widow Anne, to betroth their daughter Maud to Henry Tudor, but this was not to be, Tudors mother would have other plans for him. However, William's son also William, did marry into the royal family (of sorts) his second wife was Kathrine, the illegitimate daughter of Richard III, he had been married to the sister of Elizabeth Woodville previous to that.
Maud, went on to marry Henry Percy, Earl of Northumberland.
Why was Herbert executed, a revenge killing maybe?
My blog Vengeance in Mine is about such killings.