Robert de Chauncy, heir of Roger de Chauncy, was of age when his father died in 1231 in the 15th year of the reign of King Henry III, and later paid 25 marks for five knight's fees for the barony of Skirpenbeck in 1239 in the 23rd year of the reign of King Henry III.

Robert de Chauncy died by 1246, in the 30th year of the reign of King Henry III, leaving as heir to the barony of Skirpenbeck and 11 bovates of land in Thoralby his son Thomas de Chauncy, who appears likely to have been age 28 rather than age 23 in 1272, the 56th year of the reign of King Henry III, and so Thomas de Chauncy was born in about 1244 before the death of his father rather than in 1249 after the death of his father.

The year of birth of Robert de Chauncy, taking into account the estimated year of birth 1180 of his father Roger de Chauncy, is estimated to be about 1205-1215, average 1210.

Though no burial marker survives, it is likely that Robert de Chauncy was buried in the churchyard of St. Mary parish in Skirpenbeck.

(Memorials of the Chaunceys, Including President Chauncy, His Ancestors and Descendants, by William Chauncey Fowler, Dutton and Son: Boston, 1858, page 39.

The Historical Antiquities of Hertfordshire, by Sir Henry Chauncy, Knight, volume 1, Mullinger: London, 1826, page 114).