 Kensington was the son of William Edwardes, 1st Baron Kensington, who represented Haverfordwest in the House of Commons for over 50 years, and Elizabeth Warren.He succeeded his father as second Baron Kensington in 1801 but as this was an Irish peerage it did not entitle him to an automatic seat in the House of Lords.He was instead elected to succeed his father as Member of Parliament for Haverfordwest in 1802, a seat he held until 1818.