At the age of about 20 he accompanied William Drury, Vice Marshall of Berwick on raids into Scotland against the infamous border reivers. Two years later he was elected the Member of Parliament for Reading in Berkshire and Breconshire in Wales. Between 5 Feb 1578 and 1582 he held the position of Usher of the Tower Mint  and then in 1587 he was appointed a Gentleman of the Privy Chamber, a position with the potential for great influence in Court matters.  He was affectionately known by his cousin Queen Elizabeth as Robin and although he was part of the entourage of his nephew Robert Devereux he avoided implication in the 1601 rebellion. 
In about 1585 Robert married Catherine Vaughan, daughter and heiress of Rowland Vaughan of Porthaml, Breconshire.  This marriage brought him valuable lands in Wales, although he had to fight several legal battles with Vaughan connections to hold them.  They had two daughters: Frances (sometimes erroneously called Catherine) who married Sir Charles Vaughan at St Margaret, Westminster on 6 Nov 1605 and Lettice who married Framlingham Gawdy MP.
In 1596 Robert was named in his father's will.
On 25 July 1603, at the coronation of King James, Robert was knighted.
A keen horseman and jouster, Sir Robert died in Jan 1619 as a result of a fall from a horse at his brother, Sir William Viscount Wallingham's house at Caversham, Oxfordshire. 
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Categories: Knights of the Bath | Members of Parliament, Reading | Members of Parliament, England 1572 | Members of Parliament, England 1584 | Members of Parliament, England 1586 | Members of Parliament, Breconshire | Members of Parliament, England 1589 | Members of Parliament, England 1593 | Members of Parliament, England 1597 | Members of Parliament, England 1601 | Members of Parliament, England 1604 | England Managed Profiles, Pre-1700