Geoffrey de Lacy

Sir Geoffrey de Lacy was an English knight and a cousin of Ranulf Fitzwilliam. He was captured by Sir Gilles Estram upon returning from London after a meeting with King John. He was rescued by the Fifth Doctor, but on his way back to London to warn the King of the imposter, he was shot with an arrow on the Master's orders, and later died of his wounds. (DW: The King's Demons)