Sir Thomas Malory's life is just nutters, likely because it's a bit hard to pin down. Nonetheless, born a lesser noble, he gets knighted and then does what any young man in those late medieval days does: goes civil warring. Riding about he gets married, and has a kid (maybe more?). Somehow he gets elected to parliament, while being wanted for some sort of crime. Parliament doesn't really seem to mind, maybe they thought him a bit roguish for it.
Unfortunately, he then decides to back the wrong (loosing) side durng some such part of the War of the Roses. They get at him and try to jail him for this. Also a bunch of murdering and raping and pillaging for good measure. He gets captured and, well, just walks out and swims the moat. Nothing really comes of that escape, legally speaking. Everyone was like, good for you.
As he is still backing the wrong side, they try and get him again. This time they do their jobs and capture him. The jury convicts him and he, well, maybe they convict him. No one really knows. So they let him go. This pattern repeats itself a few times, yes really. Malory finds that cattle rustling on the Scottish border is more his cup of tea anyway.
Eventually he gets on the right/winning side of the war. Unfortunately, they still don't really like him, all that pillaging you know, so the general pardons that come along when a new king comes into power, well, those skip him. Finally, he gets into a prison that really has some bars behind it. There he gets really bored reads a bunch of French and English stuff borrowed from a bleeding heart Noble next to the Tower of London. It's all about King Arthur so he writes 'Le Mort d'Arthur'. He dies in prison.
https://en.wikipedia.org/wiki/Thomas_Malory