Robinson married a fellow Miracles member, Claudette Rogers, in 1959. The couple had two children: A son, Berry Robinson (born 1968), named after Motown's first label founder Berry Gordy; and a daughter, Tamla Robinson (born 1971), named after the original "Tamla" label set up by Gordy that would eventually become Motown. Robinson had a son named Trey (born 1984) with another woman during his marriage to Claudette. After Robinson admitted to having fathered a child with a woman other than his wife, he filed for legal separation and later filed for divorce. The divorce was finalized in 1986. The Robinsons had also separated in 1974; during that separation, Robinson engaged in an extramarital affair that inspired the song "The Agony & The Ecstasy" (later featured on "A Quiet Storm").