His feudal barony, the caput of which was at Little Dunmow in Essex, was granted to him by the king after it had been forfeited in 1110 by William Baynard, whose grandfather Ralph Baynard was the first holder and the builder of Baynard"s Castle in the City of London. He was steward under King Henry I (1100–1135) and under King Stephen(1135–1154). He was the son of Sir Richard Fitz Gilbert, Lord of Clare and Tonbridge (c 1030–1091) and Rohese Giffard, (b c 1034), daughter of Sir Walter Giffard, Lord of Longueville, and Agnes Flatel.
Sir Walter Fitz Robert, (b c 1124), married Maud de Lucy.
Maud Fitz Robert, (b c 1132), Essex, who married (c 1146), William d"Aubigny, son of Sir William d"Aubigny, Lord of Belvoir, and Cecily Bigod.