In August, the new Franco-Scottish army made ready to march into action to relieve the fortress of Ivry, which had been under siege by the Duke of Bedford.

On 15 August, Bedford received news that Verneuil was in French hands and made his way there as quickly as he could. As he neared the town two days later, the Scots persuaded their French comrades to make a stand.

The battle started with a short archery exchange between English longbowmen and Scottish archers, after which a force of 2,000 Milanese heavy cavalry on the French side mounted a cavalry charge that brushed aside the ineffective English arrow barrage and wooden archer's stakes, penetrated the formation of English men-at-arms and dispersed one wing of their longbowmen. Fighting on foot, the well-armoured Anglo-Norman and Franco-Scottish men-at-arms clashed in the open in a ferocious hand-to-hand melee that went on for about 45 minutes. The English longbowmen reformed and joined the struggle. The French men-at-arms broke in the end and were slaughtered, with the Scots in particular receiving no quarter from the English.

The result of the battle was to virtually destroy the Dauphin's field army. After Verneuil, the English were able to consolidate their position in Normandy. The Army of Scotland as a distinct unit ceased to play a significant part in the Hundred Years' War, although many Scots remained in French service.