Before the Conquest there were 2 manors of 5 hides in Preston Bagot; one held by Thorbiorn and the other by Beorthnoth. By 1086 both were held by Robert de Beaumont, Count of Meulan: Thorbiorn's in demesne and Beorthnoth's by Hugh from Robert. Beorthnoth's manor was to become the manor of Beaudesert, and it is Thorbiorn's with which we are concerned here.
This, and the overlordship, passed to Count Robert's younger brother Henry who became 1st Earl of Warwick in 1088, and the manor stayed in the hands of the Earls of Warwick until c.1170 when William, the 3rd Earl, gave it to Ingeram Bagot. It is from this family that the village takes its name.