Sir Robert Drury (c. 1503 – 21 May 1577) of Hedgerley and Chalfont St Peter, Buckinghamshire, was the second son of Sir Robert Drury, Speaker of the House of Commons, and was the father of Sir Robert Drury (1525–1593), Sir William Drury, and Sir Drue Drury. He was active in local administration in Buckinghamshire, and a Member of Parliament for that county. His name appears in the Ellesmere manuscript of Chaucer's Canterbury Tales.