While in the royal service, he visited Trim Castle in County Meath, the ancient meeting place of the Parliament of Ireland.

The young Henry accompanied Richard to Ireland. Upon the exile of Henry's father in 1398, Richard II took the boy into his own charge and treated him kindly. It is now accepted that he was born on 16 September 1386. However, records indicate that his younger brother Thomas was born in the autumn of 1387 and that his parents were at Monmouth in 1386 but not in 1387. As he was not close to the line of succession to the throne, Henry's date of birth was not officially documented, and for many years it was disputed whether he was born in 1386 or 1387. Henry's paternal grandfather was the influential John of Gaunt, a son of King Edward III. His father's cousin was the reigning English monarch, King Richard II. He was the son of Henry of Bolingbroke (later Henry IV of England) and Mary de Bohun. Henry was born in the tower above the gatehouse of Monmouth Castle in Wales, and for that reason was sometimes called Henry of Monmouth. However, he died two years later and was succeeded by his only child, the infant Henry VI. Everything seemed to point to the formation of a union between the kingdoms, in the person of Henry. After months of negotiation with Charles VI of France, the Treaty of Troyes (1420) recognised Henry V as regent and heir apparent to the French throne, and he was subsequently married to Charles's daughter, Catherine of Valois.

Taking advantage of political divisions within France, he conquered large portions of the kingdom, resulting in Normandy's occupation by the English for the first time since 1345–1360. His military successes culminated in his famous victory at the Battle of Agincourt (1415) and saw him come close to conquering France. In 1415, Henry embarked on war with France in the ongoing Hundred Years' War (1337–1453) between the two nations. After his father's death in 1413, Henry assumed control of the country and asserted the pending English claim to the French throne. Henry acquired an increasing role in England's government due to the king's declining health, but disagreements between father and son led to political conflict between the two. During the reign of his father Henry IV, Henry gained military experience fighting the Welsh during the revolt of Owain Glyndŵr and against the powerful aristocratic Percy family of Northumberland at the Battle of Shrewsbury.

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