 According to chronicler Gaspar Correia, Pêro de Ataíde was a "very honored nobleman, a good knight, of virtuous condition" He was one of the three known illegitimate sons of Pedro de Ataíde, Abbot of Penalva do Castelo, himself an illegitimate son of D. Álvaro Gonçalves de Ataíde, the 1st Count of Atouguia.His brothers were Vasco de Ataíde and Álvaro Gonçalves de Ataíde.It is sometimes suggested that Pêro de Ataíde was a relative of Portuguese admiral Vasco da Gama.