Talk about it here.
In 1666, while he was playing chess with Elizabeth, Charles became angry with his father and went to bed. Soon afterwards, the Squire heard a shot from Charles' gun and went to investigate. He found out Charles had fired at a Terileptil and wounded it, and the Squire killed it off with his firearm. However, soon afterwards, the Terileptil android killed him, Charles and Elizabeth. (TV: The Visitation)
Behind the scenes
He is only called "the squire" in the televised story, but in the novelisation, he is given the name John.