In 934 he married
Adele of Vermandois, daughter of
Herbert II of Vermandois. Their children were:
* Luitgard, married Wichmann, Count of Hamaland
* Egbert, died 953
*
Baldwin III of Flanders
* Elftrude, married Siegfried, Count of Guînes
He also had a previous daughter, Hildegard.
Arnulf made his eldest son and heir
Baldwin III of Flanders co-ruler in 958, but Baldwin died untimely in 962, so Arnulf was succeeded by Baldwin's infant son,
Arnulf II of Flanders.