Robert Richardson was the son of the antiquary William Richardson (1698-1775), master of Emmanuel College. He attended Emmanuel College Cambridge (B.A. 1750, M.A. 1753, Fellow 1755, D.D. 1766); he was Rector of All-Hallows-the-Great, London (1776-78), Rector of St. Anne's, Westminster (1778-81). Richardson succeeded his father as prebendary of Lincoln Cathedral (1762-81) and chaplain-in-ordinary to the King. He was made Fellow of the Royal Society in 1779.
A discourse delivered at the Hague. 1763.
A state of the evidence in the cause between ... the duke of Hamilton ... and A. Douglas. 1769.
An epistle from the rector of St. Anne, Westminster. 1779.
A sermon preached at the anniversary meeting of the Sons of the clergy. 1779.