When Priscilla Barnhurst was born about 1816, in Philadelphia Monthly Meeting, Philadelphia, Pennsylvania, United States, her father, Joseph Barnhurst, was 34 and her mother, Priscilla Underhill, was 25. She married John Penrose Robinson on 1 July 1835, in Dorchester, Maryland, United States. They were the parents of at least 3 sons and 2 daughters. She lived in Boston, Suffolk, Massachusetts, United States for about 10 years and Philadelphia, Philadelphia, Pennsylvania, British Colonial America in 1862. She died on 4 November 1862, in Philadelphia, Pennsylvania, United States, at the age of 46, and was buried in Laurel Hill Cemetery, Philadelphia, Pennsylvania, United States.