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Robert George Cole was born at Fort Sam Houston in San Antonio, Texas where his father had a military doctor post. On 1 July 1934, he joined the Regular Army and less than a year later he was accepted at the Military Academy of West Point. He graduated with the class of 1939 and left the Academy with the rank of second lieutenant. Shortly after he married Ally Mae Wilson.

He was posted at Fort Lewis, Washington with the 15th Infantry Regiment. During this period Robert Cole was applying as a volunteer for the airborne troops. He left Washington for his transfer to Fort Benning, Georgia where he joined the 502nd Parachute Infantry at the beginning of 1941. In March he received his jump wings, and then progressed rapidly and ended up being Lieutenant-Colonel and commander of the 3rd Battalion of the 502nd.

In the night of 5-6 June 1944, he made his his first operational jump in Normandy.

Lt Col Cole was awarded the Medal of Honor postumously for leading a bayonet charge in Carentan, France on 11 June 1944. He was personally leading his battalion in forcing the last four bridges on the road to Carentan when his entire unit was suddenly pinned 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.

Lt Col Cole was killed by an enemy sniper hidden in a house while directing air support from P-47's near Best, The Netherlands.

He was first buried at the Temporary American Military Cemetery of Son, The Netherlands.

He was given his finale resting place at Margraten on 14 December 1948.