Sir Robert Stapylton or Stapleton (died 1669) was an English courtier, dramatic poet and translator.
He left the Benedictines, turned Protestant, and was appointed one of the gentlemen in ordinary of the privy chamber to Prince Charles.
He followed the king when Charles left London at the outbreak of the First English Civil War, and was knighted at Nottingham on 13 September 1642.
Under the Commonwealth he lived a studious life, and at the Restoration he was made one of the Gentleman Ushers to the Privy Chamber.
His will, dated 11 June 1669, was proved on 29 July by Elizabeth Simpson of Westminster, widow, to whom he left the bulk of his estate (although he had a wife living, whom he barely mentioned) in consideration, as he alleged, of the great care she had taken of him during his long illness.