This couple married at Stratton on 1 October 1767. Margaret was the fourth daughter of John Yeo and Grace Payne and a granddaughter of John Yeo and Margaret Gist.
Some researchers show an inaccurate line of descent for Margaret Yeo, wrongly identifying her as a daughter of Philip Yeo and Elizabeth Elliott. Others speculate on a connection to Margaret Marshall of St Genys, who married William Yeo of Worden, Shebbear around 1670.
Robert and Margaret baptised eleven children at Stratton between 1768 and 1791.