 Born 9 August 1298, Robert Ufford was the second but eldest surviving son of Robert Ufford, 1st Baron Ufford (1279–1316), lord of the manor of Ufford, Suffolk, who was summoned to Parliament by writ of the king dated 13 January 1308, by which he is deemed to have become a baron.His mother was Cecily de Valoignes (died 1325), daughter and co-heiress of Sir Robert de Valoignes (died 1281) and Eva (de La Pecche).He had a younger brother, Sir Ralph Ufford (died 1346).