Robert Taliaferro was born 11 November 1626 in Stepney, England, United Kingdom to Francis Taliaferro (1589-1647) and Bennett Haie (1587-1626) and died 6 March 1687 Richmond, Virginia, United States of unspecified causes.
Children
| Name | Birth | Death | Joined with |
| Mary Taliaferro (1658-1695) | 18 May 1658 Richmond, Virginia, United States | 18 February 1695 Tappahannock, Virginia, United States | Henry Johnson (1648-1703) |
Siblings
| Name | Birth | Death | Joined with |
| Robert Taliaferro (1626-1687) | 11 November 1626 Stepney, England, United Kingdom | 6 March 1687 Richmond, Virginia, United States | Katherine Debnam (1626-1686) |