Member of the projected order of Knights of the Royal Oak MP for Northampton in 1661 for the Cavalier Parliament Judge on Fire of London Disputes Act 1666 at Clifford's Inn in 1667 and 1672 Sir Richard Rainsford SL (c. 1605–1680) was an English judge and politician who sat in the House of Commons between 1660 and 1663.

He was re-elected MP for Northampton in 1661 for the Cavalier Parliament, and sat until 16 November 1663 when he was raised to the bench as Baron of the Exchequer.

He presided over the commission which sat at Dublin during the earlier months of 1663 to supervise the execution of the Act of Settlement 1662, and on his return to England was raised to the exchequer bench, 16 November the same year.

On the return to Lord Shaftesbury's writ of habeas corpus he decided, 29 June 1677, an important point of constitutional law, viz.

His eldest son, Richard, matriculated at Queen's College, Oxford, on 15 June 1657, represented Northampton in the first parliament of James II, 1685–7, and died on 17 March 1702/3.

Raynsford's portrait, by Gerard Soest, is at Lincoln's Inn; another, by Michael Wright, is at the Guildhall; a third, by Claret, was engraved by Tompson.