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Robert was the eldest son of Robert Pierrepont of Thoresby, Nottinghamshire, and his wife Elizabeth Evelyn, and grandson of William Pierrepont of Thoresby (c.1608-1678).
He was therefore great-nephew to the Marquess of Dorchester, and succeeded him to the title of Earl of Kingston-upon-Hull in 1680.
He died in Dieppe eighteen months later and was succeeded as 4th Earl by his brother William Pierrepont.
He was unmarried.
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