Research Notes:
The Visitation of Yorkshire states that "John Drakes son & heyr to Robert" married "Mary doughter of William Pannell." and that they were the parents of Robert Drakes. [1]
[1] William Flower, The Visitation of Yorkshire in the years 1563 and 1564 (London: 1881), 102 in the Drakes pedigree (102-104), [InternetArchive].