score:2
It seems that in England the royal grooming staff were Gentlemen of the Bedchamber, Women of the Bedchamber, and Ladies of the Bedchamber.
Lower-ranking noblewomen would have enjoyed the service of a Lady's maid.
Upvote:1
I believed at the time of writing that the best matching English term was "chamberlain" (Merriam-Webster: "an attendant on a sovereign or lord in his bedchamber"). Both words derive from reference to the bedroom in which the duties are performed: covilheira from cubicularius, and chamberlain from chambre. Sometimes the French term valet, or valet de chambre, was also applied.