Robert was born in San Antonio, Texas, at Fort Sam Houston, on the 19th of March 1915, where his father was an Army doctor. Robert attended and graduated from Thomas Jefferson High School in 1933 and one year later, joined the US Army. He then was appointed to the US Military Academy in June of 1935, and he graduated four years later, commissioning as a Second Lieutenant. Robert married Allie Mae in 1940 while assigned to the 15th Infantry at Fort Lewis, Washington, and he then transferred to the 501st Parachute Infantry Battalion at Fort Benning, Georgia, in 1941. He was promoted through the ranks quickly and by the time he parachuted into Normandy during the American landings in France, Robert was a Lieutenant Colonel. It was his actions five days later that would earn him the Medal of Honor. The citation reads:

For gallantry and intrepidity at the risk of his own life above and beyond the call of duty on 11 June 1944, in France. Lt. Col. Cole was personally leading his battalion in forcing the last four bridges on the road to Carentan when his entire unit was suddenly pinned down to the ground by intense and withering enemy rifle, machine-gun, mortar, and artillery fire placed upon them from well-prepared and heavily fortified positions within 150 yards of the foremost elements. After the devastating and unceasing enemy fire had for over one hour prevented any move and inflicted numerous casualties, Lt. Col. Cole, observing this almost hopeless situation, courageously issued orders to assault the enemy positions with fixed bayonets. With utter disregard for his own safety and completely ignoring the enemy fire, he rose to his feet in front of his battalion and with drawn pistol shouted to his men to follow him in the assault. Catching up a fallen man's rifle and bayonet, he charged on and led the remnants of his battalion across the bullet-swept open ground and into the enemy position. His heroic and valiant action in so inspiring his men resulted in the complete establishment of our bridgehead across the Douve River. The cool fearlessness, personal bravery, and outstanding leadership displayed by Lt. Col. Cole reflect great credit upon himself and are worthy of the highest praise in the military service.

The assault that Robert led became known as “Cole’s Charge” and it was very costly for the battalion with about half of the men becoming casualties. The following day, Company E, 2nd Battalion, 506th Parachute Infantry Regiment (best known from Band of Brothers), was able to assist with the capturing of Carentan. Robert was nominated for the Medal of Honor for his actions that day but three months later, on the 18th of September, Robert was shot by a sniper while putting out orange identification panels for planes during Operation Market Garden. He died instantly and two weeks later, his mother received his Medal of Honor from Major General Jonathan Anderson, in a ceremony at Fort Sam Houston, with his wife and son present. Robert George Cole was 29 years old when he died and he is buried in the Netherlands American Cemetery and Memorial in Margraten, Netherlands: Plot B, Row 15, Grave 27.