Burton was born in Torquay, Devon, at 21:30 on 19 March 1821; in his autobiography, he incorrectly claimed to have been born in the family home at Barham House in Elstree in Hertfordshire. He was baptized on 2 September 1821 at Elstree Church in Borehamwood, Hertfordshire. His father, Lt.-Colonel Joseph Netterville Burton, of the 36th Regiment, was an Irish-born British army officer of Anglo-Irish extraction who through his mother's family—the Campbells of Tuam—was a first cousin of Lt.-Colonel Henry Peard Driscoll and Mrs Richard Graves. Richard's mother, Martha Baker, was the daughter and co-heiress of a wealthy English squire, Richard Baker (1762–1824), of Barham House, Hertfordshire, for whom he was named. Burton had two siblings, Maria Katherine Elizabeth Burton (who married Lt.-General Sir Henry William Stisted) and Edward Joseph Netterville Burton, born in 1823 and 1824, respectively.