Robert Henley (5 January 1783 – 7 October 1828) was an officer in the United States Navy during the Quasi-War with France, the War of 1812 and the Second Barbary War.

Born in Williamsburg, Virginia, son of Leonard and Elizabeth Dandridge Henley and nephew of Martha Dandridge Custis Washington. Appointed a midshipman 8 April 1799, Henley participated in the engagement between Constellation and La Vengeance during the Quasi-War with France 2 February 1800.

After service with Edward Preble's squadron in the Mediterranean and a cruise to the East Indies, Henley received his first command, Gunboat Number 5 , at Baltimore, Maryland 9 April 1808. Henley was in command of 2 divisions of 15 gunboats which drove 3 British frigates from Hampton Roads 20 June 1813. Reporting to brig Eagle, he received the thanks of Congress and a gold medal for valiant conduct in the Battle of Lake Champlain 11 September 1814.

With the end of-the War of 1812, Henley filled a variety of billets before commanding Hornet against pirates in the West Indies. He captured pirate schooner Moscow off Santo Domingo 29 October 1821. After serving as commandant of the Naval Rendezvous at Norfolk 1822 to 1824, he reported for similar duty at Charleston, South Carolina.

Captain Robert Henley died at Sullivan's Island, Charleston , after a short illness 7 October 1828.

Two ships in the United States Navy have been named USS Henley for him.