Heir to his older brother Fulk, (died s.p., 1345), succeeding to the manor of Aylestone shortly there, as verified by a deed of 1346, in which Robert was assessed of twenty shillings for half a knight's fee in Aylestone, on the aid of granting to the king for knighting Edward, prince of Wales 1 2.
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14 Feb 1348, Westminster
Robert de Penbrigg, knight, acknowledges that he owes to the prior of of Rochester 52 marks; to be levied etc. in co. Salop.
Cancelled on payment.
Calendar of Close Rolls, 22 Edw. III, p. 490