| Birth Name: | Margaret Audley |
| Death Date: | 1373 |
| Death Place: | Devon, England |
| Baroness FitzWarin | |
| Spouse: | Fulk VIII FitzWarin |
| Issue: | Fulk IX FitzWarin |
Margaret II Audley (died 1373[1]) was a co-heiress to the feudal barony of Barnstaple in Devon, England.
Margaret was a daughter of James Audley, 2nd Baron Audley (1312/13–1386), seated at the manor of Tawstock, feudal baron of Barnstaple, by his second wife Isabel LeStrange, daughter of Roger le Strange, 5th Baron Strange (c. 1327–1382) of Knokyn.[2] In 1370 James Audley settled the manor of Tawstock in tail male successively to his three sons from his second marriage, thus Margaret's brothers, Thomas, Rodeland and James, who all died childless.[3] On the death of James Audley in 1386 the barony of Barnstaple, including two thirds of the manor of Tawstock, passed to his surviving son (from his first marriage) Nicholas Audley, 3rd Baron Audley (c.1328–1391), who died childless. Nicholas's co-heiresses were his two full-sisters Joan and Margaret I and his half-sister Margaret II, who inherited Tawstock:
The lands which descended via Lady Margaret Audley to the FitzWarins and Bourchiers included:
Margaret died in 1373 and it is believed that she is represented by the oak effigy of a recumbent lady formerly in a niche in the north wall of St Peter's Church, Tawstock, from where it was removed to the Museum of Barnstaple and North Devon in Barnstaple.