1. William IX, Count of Poitiers (1153–1156)
2. Henry the Young King (1155–1183)
3. Matilda, Duchess of Saxony (1156–1189)
4. Richard I of England (1157–1199)
5. Geoffrey II, Duke of Brittany (1158–1186)
6. Eleanor of England (1161–1214)
7. Joan of England (1165–1199)
8. John of England (1166–1216)
9. Isabella of Gloucester (1174–1217)
In addition to his legitimate children, Henry also had several illegitimate children with various mistresses:
- Geoffrey, Archbishop of York (born c. 1151)
- William Longsword, 3rd Earl of Salisbury (born c. 1176)
- Morgan FitzRoy, Bishop of Durham (born c. 1178)
- Henry FitzRoy, Count of Eu (born c. 1179)