Robert Brennan was born on 22nd July 1881 in John's Gate Street, Wexford.
In 1898, Brennan became a clerk in the County Surveyor's office. To better himself he attended night classes at the Technical School in drawing, mathematics and chemistry to matriculate for the Royal University where he qualified and returned as Assistant County Surveyor in 1906 at 25 years of age. In 1909, Robert Brennan married Una Bolger.
Robert Brennan had a varied public career in politics, journalism and diplomacy. He was leader of the Easter Rising in Wexford in 1916 and director of publicity for the Republican forces during the Irish Civil War, as a result of which activities he spent much time in British jails. He was the first Director General of the Irish Press and later became First Irish Minister in Washington, a post he held throughout the second world war.
After returning to Ireland Brennan was the Director of Broadcasting for Radio Eireann until his retirement. He also published short stories, novels and plays.
Robert Brennan died in Dublin in 1964.