b. c.1580, s. of William Killigrew by Margaret or Margery, da. of Thomas Saunders of Uxbridge, Mdx., wid. of Robert Wolman or Woolman and of John Leigh. educ. Christ Church, Oxf 1591; travelled abroad 1596. m. Mary, da. of Henry Woodhouse, at least 3s. 3da. Kntd. 1603; suc. fa. 1622.
He married Mary Woodhouse of Kimberley, Norfolk, (1584–1656), and they had several notable children:
William Killigrew (1606–1695)
Anne Killigrew (1607–1641)
Robert Killigrew (1611-1???)
Thomas Killigrew (1612–1683)
Henry Killigrew (1613–1700)
Elizabeth Killigrew (c.1615-c.1619)
Catherine Killigrew (1618–1689), wife of Sir Thomas Stanley
Elizabeth Killigrew (1622–1681), wife of Francis Boyle, 1st Viscount Shannon, was a mistress of Charles II and bore him a daughter
Mary Killigrew (1623–1677), later wife of Sir John James, she has been confused in other biographies  with Mary Sackville (1645–1679) (formerly Berkeley, née Bagot)--the widowed Countess of Falmouth—who was another mistress
Robert died at Hanworth in the spring of 1633, his will being proven on the 12th of May.