Robert II de Vaux (died 1235) Baron of Gilsland, was an English noble.

He was the eldest son of Ranulf de Vaux and Alicia.

Robert provided his mother, sister and his half brother Roland, as hostages for his debts with King John of England in 1212.

Robert was required to pay scutage for not attending a number of military campaigns of King Henry III of England.

He died in 1235 and was succeeded by his son Hubert.