Robert R. Livingston, "the Judge" was a leading Whig in New York in the years leading up to the American Revolution. He served as a Judge of the New York Supreme Court of Judicature, 1763–1775, and was a member of the New York General Assembly, 1759–1768. He was the only child of his parents and inherited the entirety of his father's estate. He was married in 1742 to Margaret Beekman, daughter of Colonel Henry Beekman and heir to large tracts of land in Dutchess and Ulster counties. He died on December 9, 1775 at his estate in Clermont, New York, shortly after his father's death on June 27, 1775. His children were:

i. Robert R. Livingston (1746–1813), the Chancellor of New York who was married in 1770 to Mary Stevens, daughter of John Stevens.
ii. Janet Livingston (d. 1824), who was married in 1773 to General Richard Montgomery (1738–1775).
iii. Margaret Livingston (1749–1823), who married Thomas Tillotson (1750–1832), who served as New York Secretary of State.
iv. Henry Beekman Livingston (1750–1831), who commanded the 4th New York Regiment at the Battles of Saratoga and Monmouth and during the winter at Valley Forge. He was married in 1781 to Ann Hume Shippen, daughter of Prof. Dr. William Shippen and his wife, Alice (Lee) Shippen, of Philadelphia.
v. Catharine Livingston (1752–1849), who was married in 1791 to Freeborn Garrettson (1752–1827) and helped to bring Methodism to the Hudson River Valley.
vi. John R. Livingston (1755–1851), a merchant who took over his father's gun powder mill during the Revolutionary War. He was married, first, in 1779, to Margaret Sheafe and after her death, he was married in 1789 to Eliza McEvers, the daughter of Charles McEvers and Mary (Bache) Evers, a sister of his brother Edwards's first wife, Mary.
vii. Gertrude Livingston (1757–1833), who married Gov. Morgan Lewis (1754–1844), son of Francis Lewis (1713–1802), a signer of the United States Declaration of Independence.
viii. Joanna Livingston (1759–1827), who married Peter R. Livingston (1766–1847), acting Lieutenant Governor of New York.
ix. Alida Livingston (1761–1822), who married John Armstrong Jr. (1758–1843), a U.S. Senator, U.S. Secretary of War, and U.S. Minister to France, the son of Gen. John Armstrong, Sr.
x. Edward Livingston (1764–1836), a U.S. Senator and U.S. Secretary of State who was married in 1788 to Mary McEvers, the daughter of Charles McEvers and Mary (Bache) Evers, and after her death, he was married in 1805 to Madame Louise Moreau de Lassy, the sister of Auguste Davezac.