Robert Henry Nelson (1853–1892) was an Officer of the British Army and a young adventurer and African explorer, who accompanied H.M.Stanley on the Emin Pasha Relief Expedition, 1887–1889.

Robert was the son of Henry Nelson a solicitor from Leeds, Yorkshire and Charlotte née Bywater.

He served with Wood's flying column throughout the campaign, and received the South African medal and clasp in 1879.

In 1880 the Basuto rebellion broke out and Nelson was made captain and adjutant of a Mounted Native Corps stationed at Masseru.

He was lamed with ulcers and left in a camp by the Aruwimi river with 52 sick men from the expedition in October 1887.