Robert was born before 1655, son of Andrew Henley and his wife, Mary Gayer. [1][2]
His father died on the 17th of May 1675 and Robert succeeded to estates worth £4000 but heavily encumbered with debt. His response was to mortgage the property for a further £20,000.
In October 1679 he was returned to Parliament as member for Bridport in Dorset.[3]
Robert died unmarried on the 7th of August 1681.[1]
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