In its 600-year history since William I claimed the English throne, succession has been determined by bequest, battle, primogeniture, and parliament.
On his deathbed, William the Conqueror accorded the Duchy of Normandy to his eldest son Robert Curthose, the Kingdom of England to his son William Rufus, and money for his youngest son Henry Beauclerc for him to buy land. Thus, with William I's death on 9 September 1087, the heir to the throne was:
William II had no children. On his death, on 2 August 1100, his elder brother Robert was away on crusade. Their younger brother, Henry Beauclerc, became king as Henry I.
The succession to Henry I was altered by the death of his son, William Adelin. Left without male heirs, Henry took the unprecedented step of making his barons swear to accept his daughter Empress Matilda, widow of Henry V, Holy Roman Emperor, as his heir. However, the throne was usurped by Henry's nephew Stephen of Blois (the third son of Adela of Normandy). He became King Stephen.
The succession to Stephen was altered by the death of his son Eustace, whom he wished to have crowned king during his own lifetime (in imitation of the Capetian monarchy). Though Stephen still had a son, William, the boy was still young and unprepared to challenge Henry of Anjou, the son of his cousin Matilda, for the throne.
By the Treaty of Wallingford, Stephen agreed to make Henry his successor. Thus, on the day of Stephen's death, 25 October 1154, Henry became King Henry II.
The succession to Henry II was altered by the death of his son, Henry the Young King, who was crowned king while his father still lived. Henry II had wished to divide his lands among his children upon his death, but was forced to sign the unfavorable treaty of Azay-le-Rideau on 4 July 1189 (two days before his death) with the king of France and his rebellious sons, by which he recognized his eldest son Richard as sole heir.