Robert Nelson received his B.A. from the College of William & Mary in 1798 and later served as the judge of the Superior Court of Chancery for the Williamsburg District from 1812 until 1818. While serving as as a judge in Williamsburg, Robert Nelson succeeded his uncle, William Nelson, as professor of law and police at the College of William & Mary in 1813. Robert Nelson held this position until his death in 1818.