A new book exploring some of Kenilworth's little-known Tudor history has been released by author Julia A Hickey.

Published by Pen & Sword Books Ltd, 'The son that Elizabeth I never had: the adventurous life of Robert Dudley's illegitimate son' tells the story of Sir Robert Dudley.

Sir Robert was named after his father Robert Dudley who was Elizabeth I's favourite and hosted her at Kenilworth Castle for 19 nights of banqueting in 1575.

The book details the key role of Kenilworth Castle in affairs between the father and his illegitimate son – its ownership and inheritance caused much tension, and the younger Dudley continued to fight over its ownership with the Crown, even after his exile.

"Robert Dudley, the son Elizabeth never had, is the story of a scholar, an adventurer and Elizabethan seadog that deserves to be better known," Pen & Sword said.

"Sir Robert Dudley, the handsome 'base born' son of Elizabeth I's favourite, was born amidst scandal and intrigue."

The son that Elizabeth I never had: the adventurous life of Robert Dudley's illegitimate son is written by Julia Hickey

He was at Tilbury with the Earl of Leicester in 1587; four years later he was wealthy, independent and making a mark in Elizabeth's court; he explored Trinidad, searched for the fabled gold of El Dorado and backed a voyage taking a letter from the queen to the Emperor of China.

He took part in the Earl of Essex's raid on Cadiz and was implicated in the earl's rebellion in 1601 but what he wanted most was to prove his legitimacy.

Refusing to accept the lot fate dealt him after the death of the Queen, he abandoned his family, his home and his country never to return.

He carved his own destiny in Tuscany as an engineer, courtier, shipbuilder and seafarer with the woman he loved at his side.

His sea atlas, the first of its kind, was published in 1646.

The Dell'Arcano del Mare took more than twelve years to write and was the culmination of a lifetime's work.

Author Julia Hickey is a lecturer and speaker based in the Midlands.

She has also written about border reivers, the grisly tale of Carlisle's gallows and is the author of many short stories set in the past.