Robert Pierrepont may refer to:
- Robert Pierrepont, 1st Earl of Kingston-upon-Hull (1584 – 1643), English nobleman
- Robert Pierrepont (MP) (c 1638 - 1681), Member of Parliament for Nottingham
- Robert Pierrepont, 3rd Earl of Kingston-upon-Hull (c. 1660 – 1682), English peer
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