The petitioner and the rest were stripped almost naked, and in triumph and scorn carried up to the city of Worcester (which place Dud had fortified for the king), and kept close prisoners, with double guards set upon the prison and the city." Notwithstanding this close watch and durance, Dudley and Major Elliotts contrived to break out of gaol, making their way over the tops of the houses, afterwards passing the guards at the city gates, and escaping into the open country.

Being hotly pursued, they travelled during the night, and took to the trees during the daytime.

They succeeded in reaching London, but only to drop again into the lion's mouth; for first Major Elliotts was captured, then Dudley, and both were taken before Sir John Warner, the Lord Mayor, who forthwith sent them before the "cursed committee of insurrection," as Dudley calls them.

The prisoners were summarily sentenced to be shot to death, and were meanwhile closely imprisoned in the Gatehouse at Westminster, with other Royalists.
The day before their intended execution, the prisoners formed a plan of escape.

It was Sunday morning, the 20th August, 1648, when they seized their opportunity, "at ten of the cloeke in sermon time;" and, overpowering the gaolers, Dudley, with Sir Henry Bates, Major Elliotts, Captain South, Captain Paris, and six others, succeeded in getting away, and making again for the open country.