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Richardis of Bavaria (1173 – 7 December 1231) was a German noblewoman. She was a daughter of Count Palatine Otto I of Bavaria, who later became the first Wittelsbach Duke of Bavaria, and his wife Agnes of Loon.

Richardis married Otto I of Guelders, and after his death became the first abbess of the Cistercian Abbey of Roermond. She died in 1231 and was buried in the Church of Our Lady, today the only surviving part of the abbey.

Otto I of Guelders (1150–1207) was a Count of Guelders and Zutphen from 1182 until his death in 1207. He was a son of Duke Hendrik of Guelders and Agnes of Arnstein. He married Richardis of Bavaria in 1184. Richardis was a daughter of Otto I Wittelsbach, Duke of Bavaria.