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Robert de Baudricourt (c. 1400 – 1454) was a captain of Vaucouleurs, France during the Hundred Years' War. He was also the lord of the Assassin Jean de Metz.

In 1428, the French hero and Catholic saint Joan of Arc and her step-cousin Gabriel Laxart visited Vaucouleurs to have an audience with de Baudricourt. Many months passed however, and the captain refused to see them. By 7 January 1429, his squire, de Metz, met the pair instead. After his squire swore to protect Joan, he arranged the pair to meet de Baudricourt, who passed them to his own liege lord, Duke Charles of Lorraine.