Robert Benfield (died July 1649) was a seventeenth-century actor, noted for his longtime membership in the King's Men in the years and decades after William Shakespeare's retirement and death.
He was most likely with the Lady Elizabeth's Men in 1613, and acted in their productions of Fletcher's The Coxcomb and the Fletcher/Massinger play The Honest Man's Fortune in that year.
Benfield soon joined the King's Men, possibly to replace William Ostler, who died unexpectedly in December 1614.
Benfield also eventually became a sharer in both the Globe and Blackfriars theatres, but only after a conflict: in 1635 he was one of three King's Men (the others were Thomas Pollard and Eliard Swanston) who petitioned the Lord Chamberlain, Philip Herbert, 4th Earl of Pembroke, for the right to buy shares from fellow King's Man John Shank and from Cuthbert Burbage.
Benfield buried his wife Mary on 21 January 1629 and his son Bartholomew and daughter Elizabeth on 21 July and 1 August 1631 respectively.