Robert Cross was the seventh 19th century astrologer to use the pseudonym "Raphael", and is best remembered as the editor of Raphael's Ephemeris (which is still published today), though he never claimed to be a mathematician or scientist, unlike many of his contemporaries. He was renowned among his peers for endeavouring to show that astrology was not specially for the well-to-do, but for all. Note that, owing to the similarity in names, he is often confused with Robert Cross Smith, the first "Raphael".

Cross was originally named Frederick Robert Cross, but dropped the "Frederick". He began studying astrology quite young and by the age of twenty-five, already married with two sons, he was teaching astrology and accepting clients, and soon became the editor of The Prophetic Messenger. In the 1870's he obtained the copyright to Raphael's Ephemeris (which is still owned by the Cross family today). In Raphael's Ephemeris for 1913 he wrote: "Nothing has prospered with me except astrology...I have succeeded beyond my expectations..." For example, in 1893 Cross's almanac sold 200,000 copies. His "Guide to Astrology", published in two volumes in 1877 and 1879 was widely used by astrologers for many years.

Cross certainly had some quirks, for example he was convinced that he was able to hypnotise both animals and vegetables. As a sideline, he grew and sold exotic plants, especially orchids. Much of his time was spent on his weather station, where he recorded wind directions and speeds, sunshine, temperature and rainfall. A pioneer motorist, he owned some of the first motor vehicles in the county, initially steam-driven, then petrol cars.

In 1895 the Astrologer's Magazine quoted Cross for his support of the idea of forming an astrological society, which proved a popular concept; on 14 January 1896 Alan Leo founded a society with himself as the first president and Cross as vice-president.

After his death in 1923, Raphael's Ephemeris continued to be published and is so to this day by W. Foulsham & Company Limited.