Robert Cooke (born c. 1535, died 1592–3) was an English Officer of Arms during the reign of Elizabeth I, who rose swiftly through the ranks of the College of Arms to Clarenceux King of Arms, serving in that office from 1567 until his death in 1592–3. Cooke served as Deputy Earl Marshal at the funeral of Sir Philip Sidney in 1587, but was later accused by some fellow heralds of granting arms to unworthy men for personal gain.