Robert was the son of John & Anne Fuller and one of 7 children. He was born and died in Redenhall, Harleston, Norfolk, England.
On 29 July 1572, he married Sarah Frances Dunkhorne. They were the parents of 9 children-Thomas, Edward, Anne, John, Elizabeth, Dr. Samuel, Robert, John, and Edmund.
After Sarah's death, Robert married Frances Blackwell in 1585. They were the parents of 8 children-Sarah (Spaulding), Christopher, Rose, Elizabeth, Thomas, Susannah (Winslow), Valentine, and Mary (Lowe).
Two of his sons, Dr. Samuel and Edward, were aboard the famous "Mayflower' and immigrated to America.