D'Arcy was the son of Conyers D'Arcy, 7th Baron Darcy de Knayth (1570-1653) and Dorothy Belasyse, and he was baptised on 24 January 1599 at Kirkby Fleetham, co York. On 14 October 1616 he married Grace Rokeby, daughter of Thomas Rokeby, with whom he had two children, Conyers D'Arcy, 2nd Earl of Holderness (c.1621/1622-1692) and Grace D'Arcy (c.1633-1658). He succeeded to the titles of Baron Darcy de Knayth, Baron Conyers and Baron D'Arcy of Meinhill upon his father's death in 1654. He was created 1st Earl of Holderness on 5 December 1682.