Robert was born about 1718. He was the son of Arthur Cayley and Sarah Judson. He was baptised at Brompton by Sawdon, Yorkshire, England on 20 August 1718. He studied at Jesus College, Cambridge before being ordained. The Will dated 1746 of his brother William describes him as a 'clerk' (priest) of Chelsea. He was Rector of Belton, Suffolk from 1753 to his death, and of Sotterley, Suffolk from 1758 to his death. He passed away in 1784.
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