Robert was the 4th son of Robert 2nd Earl of Leicester. He was born in 1626 and died suddenly in 1668. He entered Dutch service at the age of 17 and was a close companion of Charles II when he was in exile, although he fell out of favour later. He was a handsome man and many thought he was the real father of the Duke of Monmouth. The reasons for this assumption were that Robert's mistress at one time was one of the King's mistresses, Lucy Waters (Mrs Barlow), also that the resemblance was so strong that many remarked on it.
The King issued a commission on 31st May 1665 to Colonel Robert Sidney to be 'Colonell of Our Holland Regiment of Foot, raised or to be raised, for Our service.' Robert, like his father the Earl of Leicester, had commanded one of the English regiments in the Dutch service. He enjoyed the life of Charles II's court and took full advantage of the loose morals of the Restoration period. He died at the age of 42 and was buried in Penshurst.
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