Robert was the eldest surviving son of Robert de Beaumont, 3rd Earl of Leicester and Petronilla de Grandmesnil, who was either a granddaughter or great-granddaughter of Hugh de Grandmesnil. (His father had died on his way to the Holy Lands in 1190).
He is sometimes known as Robert FitzPernel. As a young man, he accompanied King Richard I on the Third Crusade, and it was while the crusading forces rested at Messina, Sicily that Robert was invested with the Earldom of Leicester in early 1191. Robert"s newly gained estates included a large part of central Normandy.
He held castles at Pacy, Pont-Saint-Pierre and Grandmesnil.
Earl Robert also was lord of the vast honor of Breteuil, but the family castle there had been dismantled after the 1173-1174 War. On his return from the crusade, he turned his attentions to the defense of Normandy from the French.
He was captured by forces of the French king and remained imprisoned for 3 years. Later, King John would bestow the new fortress and lordship of Radepont (the land of Radepont was traded to King John by the seigneur du Neubourg for lands and revenues in the pays de Caux) upon the earl.
They had no children, and Robert"s death in 1204 brought the end of the Beaumont male line.
In the year of his death Normandy was lost to the French. Earl Robert attempted to come to an independent arrangement with King Philip of France, in which he would hold his land in Normandy as a liege-vassal of the Kings of France, and his lands in England as a liege-vassal of the Kings of England. The younger sister, Margaret, had married Saer de Quincy, and they inherited the other half.
Three years later Saer was created Earl of Winchester.
After defending Rouen from the advances of Philip II of France, he attempted to retake his castle of Pacy.
