Elliott married Jane Underwood in 1943. They divorced in 1953 having no children. Bob and Ray Writer Raymond Knight died in 1953. In 1954, Elliott married Knight's widow, Lee Elliott (née Peppers). They were married for 58 years until her death in 2012. They had two sons, Chris Elliott and Bob Elliott Jr., and one daughter, Amy Andersen. They adopted two children, Colony Elliott Santangelo and Shannon Elliott. They had 11 grandchildren and five great-grandchildren. In 1987, his oldest granddaughter, Abby Elliott, was born.