In 1355, Robert married his second wife Euphemia de Ross (died 1387), daughter of Hugh, Earl of Ross. They had four children: David Stewart, Earl of Strathearn, born about 1356 and died in 1389; Walter Stewart, Earl of Atholl, born about 1360, was beheaded at Edinburgh in 1437 for being involved in the assassination of King James I; Elizabeth, who married in 1380 David Lindsay, 1st Earl of Crawford; Egidia, who married in 1387 William Douglas of Nithsdale.
In 1355, Robert married his second wife Euphemia de Ross (died 1387), daughter of Hugh, Earl of Ross. They had four children: David Stewart, Earl of Strathearn, born about 1356 and died in 1389; Walter Stewart, Earl of Atholl, born about 1360, was beheaded at Edinburgh in 1437 for being involved in the assassination of King James I; Elizabeth, who married in 1380 David Lindsay, 1st Earl of Crawford; Egidia who married in 1387 William Douglas of Nithsdale.