 Brooke went to France in 1669 and was drowned while bathing in the River Rhône at Avignon in June.Brooke married on 26 April 1659 Ann Mildmay, daughter of Sir Henry Mildmay of Wanstead, who was master of the jewels from 1620 to 1649.She died on 7 January 1666, leaving him a daughter.