The Spanish army consisted of 12,000 infantry (4 tercios), 3,000 cavalry, and some cannons. Louis of Nassau opposed them with 10,000 infantry (2 groups), some cavalry, and 16 cannons.
After three hours of skirmishes, Louis' army left its trenches and advanced. Pounded by effective musket fire and intimidated by the Spanish cavalry, the advance turned into a general retreat towards the river Ems.
On May 19, 1571 a statue of the Duke, cast from one of the captured bronze cannons, was placed in Antwerpcitadel. In 1577 the statue was destroyed by an angry crowd.
Laffin, John, Brassey's Dictionary of Battles, Barnes & Noble, 1995.