English squire whom William Shakespeare (Shakespeare, William) may possibly have caricatured as Justice Shallow in Henry IV, Part 2 and The Merry Wives of Windsor.

At 16 Lucy married an heiress, Joyce Acton, daughter of Thomas Acton of Sutton, Worcestershire, and rebuilt Charlecote, the family house, with her fortune. Lucy was knighted in 1565. He sat in two sessions of Parliament as knight of the shire for Warwick, was a justice of the queen's peace and a member of the council for the Marches of Wales (to superintend the Welsh borders), and became a hunter of recusants (usually Roman Catholic dissenters from the Church of England). In 1588 he was a commissioner for musters against the Spanish Armada.

It was said that he prosecuted the young Shakespeare for stealing deer in Charlecote park, though the story gained currency only long after Shakespeare's death.