He married Margaret Milliton, daughter of John Milliton and widow of John Giffard of Yeo in the parish of Alwington, North Devon, by whom he had six sons and three daughters including George (1543–1601), eldest son and heir, Sheriff of Devon in 1587,[5] who built a harbour wall at Clovelly,[6] which created the only safe anchorage between Appledore and Boscastle.
His large monument, with strapwork decoration, survives against the south wall of the chancel of All Saints Church, Clovelly.
Along the full length of the cornice is inscribed in gilt capitals: Robertus Carius, Armiger, obiit An(no) Do(mini) 1586[8] ("Robert Cary, Esquire, died in the year of Our Lord 1586").
On the base of the north side are shown two relief sculpted heraldic escutcheons, showing Cary impaling Chequy argent and sable, a fess vairy argent and gules[9] (Fulkeram, for his father) and Cary impaling Sable, three swords pilewise points in base proper pomels and hilts or (Poulett, for his grandfather).
On the base of the west side is a similar escutcheon showing his own arms of Cary (of four quarters, 1st: Cary; 2nd: Or, three piles in point azure (Bryan);[10] 3rd: Gules, a fess between three crescents argent (Holleway);[11] 4th: A chevron (unknown, possibly Hankford: Sable, a chevron barry nebuly argent and gules[12]) impaling Gules, a chevron or between three millets hauriant argent (Milliton, canting arms, a "millet" in heraldry being a type of fish, possibly a mullet)[4])