 Palmer died at Nazeing Park, Essex, on 12 May 1853.Palmer was the author of "Memoir of a Chart from the Strait of Allass to the Island Bouro", 1799, and of "A New Plan for fitting all Boats so that they may be secure as Life Boats at the shortest notice", 1828.Palmer married, on 29 December 1795, Anna Maria, daughter of William Bund of Wick, Worcestershire, who died on 13 October 1856.