In the early 1200s, Ada, daughter of Hugh de Baliol, was given the manor (land) of Ingleby on her marriage to John de FitzRobert of Warkworth, a member of the Eure family. Hugh de Baliol had been granted the Barony of Stokesley by William Rufus shortly after the Domesday survey. The church of St Andrew at the entrance to the manor drive dates from pre-Conquest times.

The present manor house was probably built in the early 1500s when the powerful Eure family acquired even greater wealth under Henry VIII. Sir Ralph Eure was a soldier and a warden of the northern marches and "did so many valiant exploits against the Scots that the King gave him a grant of all lands he could win from them. Whereupon he invaded Scotland, but engaging with the Earl of Arran at Halidon Hill, was there slain".*
Another Ralph, Third Lord Eure, was forced to sell the Ingleby estate and other of his vast properties in the north in 1608 after incurring huge debts under Elizabeth I. Sir David Foulis, who bought Ingleby from the Eures, was a courtier of James VI of Scotland. He had been employed by James on several important commissions to Queen Elizabeth and was cofferer to James' two sons, the younger one later becoming Charles I. Sir David came south of the border when James became James I of England and it seems likely that he chose Ingleby because it was half-way between his old home, Edinburgh, and the Court in London. In 1633, under Charles I, Sir David was tried at the Star Chamber and imprisoned in the Fleet because he objected to certain tax-raising measures and some of his estates had to be sold to pay his fine. He died shortly afterwards and is buried in Ingleby Churchyard.

In the mid 1800s, Lady Mary Foulis, only child and heiress of the last Foulis baronet, married the 2nd Lord de Lisle & Dudley of Penshurst in Kent, a descendant of Sir Philip Sydney, the famous Elizabethan poet, soldier and courtier. There is a "chair" on the hillside carved out of stone with the inscription "Lady Mary Ross 1867". Lady Mary Ross was the mother of Lady Mary Foulis and it is said that her ghost haunts the Manor.

The 4th Lord de Lisle sold the Ingleby Estate in 1950 and Stanley Stephenson Cumbor bought Ingleby Manor and the surrounding land and farm. It is now the home of his daughter and grand-daughters.

*Information taken from "The History and Antiquities of Cleveland", John Walker Ord (first published 1846) and from Graves' "History of Cleveland", 1808.