Wife's name not known. Had at least two sons-- John and Thomas.
Two grandsons, one by each son, emigrated to New England in the 1630s.
Sources
Trudy Millard Krause, "The English Origins of Thomas1 Millard of Boston, and his cousin John1 Millard of Rehoboth," New England Historical and Genealogical Register, 169 (2015):197-201. AmericanAncestors.org.
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DNA Connections
It may be possible to confirm family relationships with Robert by comparing test results with other carriers of his Y-chromosome or his mother's mitochondrial DNA.
Y-chromosome DNA test-takers in his direct paternal line on WikiTree: