Chapman was the sixth child of Thomas and Ann Chapman's ten children. He was born in Helsingor, Denmark in a wealthy Anglican merchant family from Whitby, Yorkshire, England. Some sources say he was Born April 1, 1803 and Died December 6, 1902. Robert completed his 5 year apprenticeship and became an attorney in 1823. In the same year he became a Christian after listening to the gospel preached by James Harrington Evans. Known as the "apostle of Love", Chapman was a pastor, teacher and evangelist. His views on fellowship were similar to those of Anthony Norris Groves.

He was a friend of George Muller for 68 Years. Chapman rose to become an influential figure within the Plymouth Brethren alongside John Nelson Darby and George Muller. After months of prayer and fellowship, Chapman felt led to sell his possessions, give away his fortune, and devote himself full-time to the Lord's work (1831).

At that time God was working to gather a remarkable group of believers in the rural "West Country" of England. Benjamin Newton, George Müller, Anthony Norris Groves, Henry Craik, and William Hake were all in Devon, along with an influential sister, Miss Elizabeth Paget. All of them, along with Robert Chapman, were to play important roles in what became known as the "Plymouth Brethren."

Chapman lived to be nearly a hundred years old. He never married nor had any children.

"Choice Sayings" of Robert Cleaver Chapman:

~"God is love" (1 John 4:16). His children please Him only so far as they are like Him, and "walk in love" (Eph. 5:2).
~"Humility is the secret of fellowship, and pride the secret of division."
~"If we would wisely reprove the flesh in our brethren, we must first, after the Lord's example, remember and commend the grace in them."
~"Much self-judgement makes a man slow to judge others; and the very gentleness of such a one gives a keen edge to his rebukes."
~"If I have been injured by another; let me bethink myself — how much better to be the sufferer than the wrong-doer!"

He often quoted this poem:

"Man's books full of chaff are stored,
God's, naught but golden grains afford,
Then leave the chaff and spend thy pains,
In gathering God's golden grains."

His last words were: "The peace of God that passeth all understanding …" Yes, peace had marked the whole of his Christian experience—unruffled, uncomplaining peace! From the day when he first found peace with God through our Lord Jesus Christ, he had lived in the enjoyment of Divine peace.

Large crowds attended the funeral, which took place at Barnstaple. Christians were present from all over the country. Baptists, Methodists, Congregationalists, and Anglicans mingled with Brethren at the graveside of him who had taught them by word and example that all born-again people were brethren and sisters in Christ. Though he had never swerved an inch in his belief and practice regarding the worship and government of the church, they knew that he had loved them all, and had sincerely mourned the lack of unity of judgment amongst God's people. They felt that they had lost a brother indeed.

Among those who spoke at the funeral was Dr. Henry Soltau, for the famous Soltau family had spent years under his ministry.

Charles Spurgeon called Chapman "the saintliest man I ever knew".

Chapman wrote at least 165 hymns. His "Meditations" were much appreciated and "Choice Sayings" too. After his death "The Good Shepherd" and "Goodly Words" were published. They contained many extracts from his writings and addresses.

It is remarkable that the grave in which Chapman was buried was that where his fellow-worker, Miss Elizabeth Paget, had been buried forty years previously. They share a plain white stone.