Robert Avenel was a 12th-century Anglo-Norman magnate. He was ruler of the small former Northumbrian province of Eskdale in Dumfriesshire, as well as Abercorn in West Lothian. He was one of a small number of Anglo-Norman immigrants to have been given a provincial lordship in southern Scotland in the early-to-mid 12th century. For some period in the 1170s he served as Justiciar in Lothian. He also had some part of the township of Innerwick. He seems to have held this of Walter fitz Alan. He passed this on to his younger son Vincent. His nephew Glai or Glay may have held part of Innerwick too.