William de Beauchamp of Bedford
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Thomas Wright seems to confuse William de Beauchamp of Bedford with William de Beauchamp (of Elmley) - Worcestershire
Avicia de Beauchamp was the widow of William de Beauchamp (of Elmley) not Bedford
Maud, the eldest daughter of William de Beauchamp, was married to Roger de Mowbray.
Beatrix became the wife of Thomas Fitz-Otho, and, on his death, was married to William Montchensy, of Edwardstown. Ella, the youngest of these sisters, was married to Baldwin Wake, to whom she bore Ida, married to John de Steyngreve, Elizabeth, the wife of John de Horbiry; and Joan, married to Michael Picket.
These co-heiresses and their husbands, or joint heirs, upon paying their compositions, in pursuance of the "Dictum of Kenelworth," J(oan) had livery of the barony of Bedford, and the great estates which belonged to them, and, in 1278, on the death of Avicia, widow of William Beauchamp, of Bedford, a partition was made between these co-heiresses.
From Wikipedia, the free encyclopedia
William de Beauchamp (c.1185–1260) was a British judge and High Sheriff.
He took part in the 1210 expedition to Ireland and the 1214 expedition to Poitiers before joining the rebellious barons in 1215 at the beginning of the First Barons' War, entertaining them at his seat of Bedford Castle; as such Beauchamp was one of the rebels excommunicated by Pope Innocent III.
He was captured at the Battle of Lincoln on 20 May 1217 but made his peace with the government; by this point he had already lost Bedford Castle to Falkes de Breauté in 1215, leading to an odd situation; Breauté was granted the castle, while Beauchamp held the barony. When Breaté fell from power Bedford Castle was sieged and partially destroyed on royal orders, but Beauchamp was granted licence to build a residence within its Bailey. He was part of a royal expedition ambushed by Richard Marshal in 1233, and was appointed a Baron of the Exchequer in 1234 and 1237. Between 1234 and 1237 he also served as High Sheriff of Buckinghamshire and Bedfordshire, and when Eleanor of Provence was crowned queen in 1236 he served as an Almoner.
He died in 1260, leaving a son, also called William. 
Sir William de Beauchamp, Lord of Bedford, b abt 1189, Essex, England, d 1260. He md Ida Longespee abt 1232, daughter of Sir William I Longespee and Ela Fitz Patrick of Salisbury.
Children of William de Beauchamp and Ida Longespee were: Maud de Beauchamp b abt 1234, d bef Apr 1273. She md Roger de Mowbray abt 1247, son of William de Mowbray and Avice. Ela de Beauchamp b abt 1240, Essex, England, d 1266. She md Baldwin Wake abt 1254, son of Hugh Wake and Joan de Stuteville. Beatrice de Beauchamp b abt 1245, prob Bedford, Bedfordshire, England, d 1280-1281. She md Sir Thomas Fitz Otho bef 1264. Their daughter, Maud/Matilda Fitz Thomas md Sir John de Botetourte abt 1284.
From Public Record Office, Vol III Edward I
A writ dated 4 October 23 Edward I , after the death of Isabel, late wife of Simon de Bello Campo,
resulted in an Inquisition in Bedford which found that Isabel held the manor of Wottone in dower by the assignment of
Simon son of William de Bello Campo, and the heirs of the barony of Bedford were
1.Roger, aged 30 plus, son of Simon's sister Maud;
2.Joan, aged 30, daughter of Simon's sister Ela, and wife of Ralph Paymel;
3.Isabel, aged 24, daughter of Ida, daughter of Simon's sister Ela, and wife of Simon de Pateshulle;
4.Elizabeth, aged 34, daughter of Simon's sister Ela, and the wife of John de Horbur'
5.the heirs of the body of Beatrice sometime sister of the said Simon, who were Otto deceased,
Maud aged 26 married to John Botetourte, and William de Montecanyso of Edwardestone, aged 12, but because Otto survived his mother the jury were doubtful whether Beatrice's share of the barony should revert to the children of her first or second husband.
John de Beauchamp
....was slain at the battle of Evesham (1265)