Named after his godfather, Sir Robert Cecil, Kirkham composed an elegy for Lady Cecil while still a pupil at Westminster school.
Kirkham was returned for St. Albans to the 1628 Parliament on the recommendation of the 2nd earl of Salisbury, to whose household his younger brother Roger had been admitted the previous year.
Shortly after the dissolution Kirkham was preferred at the instance of the 1st earl of Carlisle to the post of secretary of the Paris embassy, and it was reported that he might succeed Sir Isaac Wake* as ambassador.
