Kęstutis and Algirdas led their army, composed of Lithuanians, Samogitians, Ruthenians, and Tatars, to Prussia earlier than anticipated by the Knights. The Lithuanians took and burned Rudau Castle. Grand Master Winrich von Kniprode decided to take his army from Königsberg to meet the Lithuanians near Rudau. Contemporary Teutonic sources do not give details about the course of the battle, which is somewhat unusual. Details and battle plans were later provided by Jan Długosz (1415–1480), but his sources are unknown.

The Lithuanians suffered a defeat. Algirdas took his men to a forest and hastily erected wooden barriers while Kęstutis withdrew into Lithuania. Marshal Schindekopf pursued the retreating Lithuanians, but was injured by a spear and died before he reached Königsberg. The Lithuanian noble Vaišvilas is presumed to have died in the battle.