In June 2005, Urlacher filed suit to establish paternity of his son Kennedy. Genetic testing determined that he is Kennedy's father. Kennedy's mother, Tyna Robertson, was already well known to the media, having made claims of sexual assault against famed dancer Michael Flatley and a doctor from Naperville, Illinois. Urlacher and Robertson maintain joint-custody over Kennedy. In 2017, Urlacher appealed to a Cook County court to remove Kennedy from Robertson's custody after her husband, Ryan Karageorge, was shot and killed in their residence.