Early Life
He was a younger son of Thomas Brackenbury of Denton, County Durham, England. This was a family which had been known in Durham since the end of the 12th century. They were lords of the manors of Burne Hall, Denton and Saleby. Robert inherited Saleby; in the immediate vicinity of Barnard Castle. Barnard Castle had passed to the Duke of Gloucester (later Richard III) in the right of his wife, Anne Neville in about 1474. Richard III and Brackenbury, were therefore, close neighbours. Indeed, a tower of Barnard Castle is still called Brackenbury Tower.
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