The battle of Shrewsbury of 1403 is one of those battles that deserves to be more remembered than it is - along with Lincoln in 1217 for example. The issue at Shrewsbury was who would rule England - Henry IVth or the Mortimers and Percies.
The Battle of Shrewsbury, 21st July 1403
A fantastic place to go, for any battle in England, the Battlefield Trust. Hop along and have a look.