His father Stephen II of Auxonne was son of William III, count of Mâcon and his wife Poncette/Alice, lady of Traves. His mother Judith was daughter of Matthias I, Duke of Lorraine and Bertha Hohenstaufen (daughter of Frederick II, Duke of Swabia).
Stephen (or Etienne) III (died 1241) was count of Auxonne. John I count of Burgundy, Chalon and lord of Salins. His great-granddaughter is Joan II, Countess of Burgundy, the wife of Philip V of France.
Agnes (died 1223).
Married to Richard III lord de Montfaucon, son of Amadeus II of Montfaucon. Clementia (died after 1235). Married to Berthold V, Duke of Zähringen.
Bearix (died 1260).
Married to Simon de Joinville and had issue: Geoffrey de Geneville, 1st Baron Geneville. He had also an illegitimate child: Stephen (Etienne), baron d" Oiselet (1208 - after 1267).
