The siege of Venlo of 1586, also known as the Capture of Venlo, was a Spanish victory that took place on June 28, 1586, at the city of Venlo, in the southeastern of Low Countries, near the German border (present-day Province of Limburg, the Netherlands), between the Spanish forces commanded by Governor-General Don Alexander Farnese, Prince of Parma (Spanish: Alejandro Farnesio), and the Dutch garrison of Venlo, supported by relief troops under Maarten Schenck van Nydeggen and Sir Roger Williams, during the Eighty Years' War and the Anglo-Spanish War (1585–1604). After two failed attempts to relieve the city, the siege ended on June 28, 1586, with the capitulation and the withdrawal of the Dutch garrison.
According to John Lothrop Motley, during the siege, there was an important event when the troops of Maarten Schenck and Roger Williams arrived near Venlo to relieve the Dutch garrison. At that night (about 170 Dutch and English soldiers led by Schenck and Williams) they passed through enemy lines with stealth, killed several Spanish soldiers, and even reached the door of the Prince of Parma's tent, where they killed Parma's secretary and his personal guard.
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