 Peter Robert Livingston was born on October 3, 1766 in New York City.He was the son of Robert James Livingston (1725–1771) and Susanna (née Smith) Livingston (1729–1791), daughter of Chief Justice William Smith (1728–1793).His brothers were Col. William Smith Livingston (1755–1795) and Judge Maturin Livingston (1769–1847).