Robert Marmion was probably the 6th baron of Tamworth. He first appears as a justiciar at Caen in 1177. He was one of the justices before whom fines were levied in 1184, and from 1185 to 1189 was High Sheriff of Worcestershire. He was an itinerant justice for Warwickshire and Leicestershire in 1187-8, Staffordshire in 1187-92, Shropshire in 1187-94, Herefordshire in 1188-90, Worcestershire in 1189, Gloucestershire in 1189-91 and 1193, and Bristol in 1194.

Marmion was married twice, first, to Matilda de Beauchamp, by whom he had a son, Robert the Elder, and two daughters; secondly, to Philippa, by whom he had four sons; Robert the younger; William, who was dean of Tamworth; Geoffrey, who was ancestor of the Marmions of Checkendon, Stoke Marmion, and of Aynho, to which branch Shackerley Marmion the dramatist belonged; and lastly Phllip (died 1276). Robert Marmion the younger was father of William Marmion, who was summoned to parliament in 1264, and ancestor of the Lords Marmion of Witrington, Lincolnshire, summoned in 1294 and 1297-1313.

Marmion's eldest son Robert the Elder married Juliana de Vassy, and had a son, Philip, died 1291. This Philip was High Sheriff of Warwickshire and Leicestershire in 1249, and of Norfolk and Suffolk in 1261. He served in Poitou in 1254, and was imprisoned when on his way home through France at Pons. He was one of the sureties for the king in December 1263, and fighting for him at Lewes, on 14 May 1264, was there taken prisoner. Philip Marmion married, first, Jane, daughter of Hugh de Kilpeck, by whom be had two daughters, Jane and Mazera; and secondly, Mary, by whom he had another daughter Jane, who married Thomas de Ludlow, and was by him grandmother of Margaret de Ludlow. Tamworth passed to Jane, daughter of Mazera Marmion, and wife of Baldwin de Freville, and Scrivelsby eventually passed with Margaret de Ludlow to Sir John Dymoke, in whose family it has since remained.