Sir Robert, born in 1622, was the eldest child of Sir Richard Sprignell and his wife Anne. He succeeded to the title on the death of his father. He married Anne, daughter of Sir Michael Livesey, who fought for Parliament during the Wars of the Three Kingdoms and was one of the regicides who approved the Execution of Charles I in January 1649. Robert lived quietly at Copmanthorpe in North Yorkshire; when his mother died, he sold Cromwell House and its garden to George Hill of Clifford's Inn in 1664, and 19 acres of attached land to Robert Young. He died sometime before November 1688 without issue.