Woodworth was born in Norwich, Connecticut Colony on June 13, 1743, the son of Daniel Woodworth and Sarah Collins.
[1] He eventually moved to Rensselaer Manor, now Greenbush, New York, although maintaining ownership of land in Salisbury, Connecticut, and married Rachel Fitch, daughter of Abel Fitch.
[1] In 1778, he served in the American Revolution as a captain of the Fourth Regiment, Second Rennslaerwyck Battalion.
[2] Following that he served as a judge of the Court of Common Pleas, before returning to Albany as a representative of Rennselaer County in 1806, serving a term.
[1][2] Robert and Rachel were the parents of future New York Attorney General, John Woodworth.