His father was a London vintner, who kept the Mitre tavern in Fenchurch Street, and owned land at Graysdale, Lancashire, where the family came from.
On 6 August 1686 he was knighted at Windsor, and in the following month was appointed by the king, with Sir Thomas Fowles, Sheriff of London and Middlesex (Luttrell, Relation of State Affairs, i.
On 22 September 1705 he became president of Bridewell and Bethlehem Hospitals, and on Michaelmas Day following was chosen lord mayor.
At Rawlinson's request the Queen presented the trophies and colours taken at Ramillies and other engagements to the city, to be hung in the Guildhall.
His will, dated 20 January 1700, with a codicil of 28 July 1707 (Lane, 44), mentions the manor of Wasperton in Warwickshire, and his ancestral property in Graysdale [Grizedale, Cumbria].