The presence of servants of noble birth imposed a social hierarchy on the household that went parallel to the hierarchy dictated by function. This second hierarchy had at its top the steward (alternatively seneschal or major-domo), who had the overriding responsibility for the domestic affairs of the household. Taking care of the personal well-being of the lord and his family were the Chamberlain, who was responsible for the chamber or private living-quarters, and the Master of the Wardrobe, who had the main responsibility for clothing and other domestic items. Of roughly equal authority as the steward was the marshal. This officer had the militarily vital responsibility for the stables and horses of the household (the "marshalsea"), and was also in charge of discipline. The marshal, and other higher-ranking servants, would have assistants helping them perform their tasks. These – called valet de chambres, grooms or pages, ranking from top to bottom in that order – were most often young boys, although in the larger royal courts the valet de chambres included both young noble courtiers, and often artists, musicians and other specialists who might be of international repute. Assigning these the office of valet was a way of regularising their position within the household.

As a result of the military nature of the medieval noble household, its composition was predominately male. Towards the end of the medieval period the ratio levelled out somewhat, but at an earlier date the feminine element of the household consisted only of the lady and her daughters, their attendants, and perhaps a few domestics to perform particular tasks such as washing. Many of the male servants were purely military personnel; there would be a gatekeeper, as well as various numbers of knights and esquires to garrison the castle as a military unit. Yet many of these would also serve other functions, and there would be servants entirely devoted to domestic tasks. At the lower level, these were simply local men recruited from the localities. The higher level positions – in particular those attending on the lord – were often filled by men of rank: sons of the lord's relatives, or his retainers.

From the household of the king to the humblest peasant dwelling, more or less distant relatives and varying numbers of servants and dependants would cohabit with the master of the house and his immediate family.