Robert Pemberton Milnes (28 May 1784 – 9 November 1858), was a British landowner and politician.
He was the eldest son of Richard Slater Milnes, of Fryston Hall, Yorkshire by Rachael, daughter of Hans Busk whose brother was Sir Wadsworth Busk He was educated at Hackney and at Trinity College, Cambridge.
[2] Milnes had married the Honourable Henrietta Maria, daughter of Robert Monckton-Arundell, 4th Viscount Galway, in 1808.
Their son Richard became a prominent literary figure and was created Baron Houghton in 1863.
Milnes remained a widower until his death in November 1858, aged 74.