The title Baron Herbert was created by writ in the Peerage of England. It was granted in 1461 to William Herbert, who was later made Earl of Pembroke. The second Earl of Pembroke surrendered his earldom in return for another earldom, Huntingdon. The barony, however, passed to his daughter Elizabeth, who would later marry the first Earl of Worcester. At Elizabeth's deat, the title passed to her son, who would later inherit the Earldom of Worcester. Later, the fifth Earl was made Marquess of Worcester, and the third Marquess became Duke of Beaufort. Thereafter, the barony and dukedom remained united until 1984, when, upon the death of the tenth Duke, the barony fell into abeyance. Then, in 2002, the Queen terminated the abeyance of the barony of Herbert in favour of David John Seyfried.
He was the eldest son of Richard Herbert of Montgomery Castle (a member of a collateral branch of the family of the Earls of Pembroke) and of Magdalen, daughter of Sir Richard Newport, and brother of the poet George Herbert.
In 1694, however, it was revived in favour of another Henry Herbert (1654-1709), son of Sir Henry Herbert (1595-1673), brother of the 1st Lord Herbert of Cherbury.
Herbert's first historical work is the Expeditio Buckinghami ducis (published in a Latin translation in 1656 and in the original English by the Earl of Powis for the Philobiblon Society in 1860), a defence of Buckingham's conduct of the ill-fated expedition of 1627.