Hooke was known to be a somewhat solitary and eccentric figure. While he had numerous colleagues within the Royal Society and scientific community, he appeared to have lacked close personal friendships. He was often described as being difficult to get along with, potentially contributing to some scientific disputes.

Hooke lived in apartments provided to him by the Royal Society at Gresham College and later at his own lodgings. His diaries provide insight into his daily life, including his meals, routines, and household affairs.

Robert Hooke never married and had no children. He dedicated his life to scientific pursuits, which may have left little time for establishing familial relationships.

After the death of his brother, he invited his niece, Grace Hooke, to live with him, eventually making her his heir. She managed his household and served as a close companion until his death. The exact nature of their relationship has been subject to speculation, but Grace clearly became a very important presence in his life.

Hooke suffered from various health problems throughout his life, including digestive issues, headaches, and a general weakness. His diaries often refer to his ailments and the remedies he sought.