Blessed Robert Drury was born in Buckinghamshire in about 1567. He studied at the English College, Rheims, France in 1588, and the English College, Valladolid, Spain in 1590. Ordained at Valladolid in 1593. Returned to England in 1593 to minister to covert Catholics around London, England. One of the signers of the loyal address of 31 January 1603 which acknowledged the queen as lawful sovereign on earth, but maintained their loyalty in religious matters to the Pope. When James I came to the throne, the king required them to sign a new oath which acknowledged his authority over spiritual matters. Robert refused, and was arrested in 1606 for the crime of being a priest. He was offered his freedom if he would sign the oath; he declined. Martyred by being hanged, drawn, and quartered on 26 February 1607 at Tyburn, London England. He is one of the Eighty-five Martyrs of England and Wales beatified by Blessed Pope John Paul II in 1987.
The old Catholic Encyclopedia provides much more detail here.