He sat in the House of Commons of England from 1673 to 1679, when he began serving as the English ambassador to Spain, holding that office until 1683, when Goodricke returned home and sat in Parliament once again from 1683 to 1705. During his parliamentary career, he consistently represented the parliamentary constituency of Boroughbridge.
During the Glorious Revolution of 1688, he acted as the Earl of Danby's lieutenant in Northern England in support of the revolution and was rewarded by the new Williamite regime with the office of Lieutenant-General of the Ordnance, a post which he held until 1702. Goodricke would die soon after in 1705.
J. D. Davies, 'Goodricke, Sir Henry, second baronet (1642–1705)', Oxford Dictionary of National Biography, Oxford University Press, September 2004; online edn, January 2008 [1], accessed 10 April 2009