 He married Princess Charlotte Felicitas of Brunswick-Lüneburg (1671–1710), eldest daughter of Johann Friedrich, Duke of Brunswick-Lüneburg and Benedicta Henrietta of the Palatinate.He hoped that this marriage to a German princess would provide him needed support from the various German royal houses, including the Habsburgs, who were connected to his wife by blood.Rinaldo married Charlotte in Modena on 11 February 1696.