| Child | Birth – Death | Notes |
| Robert | c. 1053 – 10 February 1134 | Duke of Normandy; married Sybil of Conversano, daughter of Geoffrey of Conversano. |
| Richard | c. 1055 – c. 1069–74 | Died young. |
| Adeliza (or Adelida/Adelaide) | c. 1057 – c. 1073 | Betrothed to Harold Godwinson; later a nun at St Léger, Préaux. |
| Cecilia (or Cecily) | c. 1058 – 1127 | Abbess of Holy Trinity, Caen. |
| William Rufus | c. 1060 – 2 August 1100 | King of England; killed in the New Forest. |
| Matilda | c. 1061 – c. 1086 | Possibly identical to Matilda d’Aincourt. |
| Constance | c. 1062 – 1090 | Married Alan IV Fergent, Duke of Brittany. |
| Adela | c. 1067 – 1137 | Married Stephen, Count of Blois; mother of King Stephen of England. |
| Henry | late 1068 – 1 December 1135 | King of England; married Matilda of Scotland and later Adeliza of Louvain. |
| Agatha | — | Betrothed to Harold Godwinson, Alfonso VI of Castile, and possibly Herbert I, Count of Maine, but died unmarried. |