On 11 March 1630 Essex married Elizabeth Pawlett, daughter of Sir William Pawlett, of Edington, Wiltshire, past High Sheriff of Wiltshire and cousin of William Paulet, 4th Marquess of Winchester. Elizabeth was introduced at Court during the Great Parliament of 1628/29 just after her father died, as the eldest unmarried daughter needing to marry to improve her family prospects. Back from travels in military service on the Continent (see below) Robert was also pressured to marry again (and quickly) to show the Court the humiliation from his first marriage could be overcome. This marriage was also a disaster and failed, though not as publicly. They separated in 1631, the Countess remaining at Essex House in the Strand, London, Robert "playing soldiers" at his estates.