Sir Robert Jenkinson, 1st Baronet (1621 - 30 March 1677), was an English politician who sat in the House of Commons from 1654 to 1659.

Jenkinson was the son of Sir Robert Jenkinson of Walcot, Oxfordshire, and his wife Anna-Maria Lee, daughter of Sir Robert Lee of Billeslee. He matriculated at Trinity College, Oxford, aged 16 on 16 December