Robert Peter Lipski (born July 7, 1938) is a former Major League Baseball catcher. Originally signed by the Philadelphia Phillies in 1956, he was drafted from them by the Cleveland Indians in the 1962 rule 5 draft. He played in just two games for them in 1963, going hitless in one at bat, before being returned to the Phillies, ending his major league career.

Following his baseball career, Lipski, married, had two children, and worked as a Pennsylvania State Trooper in his hometown of Scranton, Pennsylvania.