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Robert F. Epstein

Rob Epstein is the founder of Epstein Holtzapple LLP. Rob specializes in estate, trust, and fiduciary litigation.

Rob's extensive trial experience enables him to provide highly skilled representation on behalf of his estate and trust litigation clients. Rob has conducted jury trials in six California counties, including Marin. Rob also has represented clients in dozens of contested bench trials, including will and trust contests.

During his more than 25 years as an attorney, Rob has represented hundreds of clients in numerous litigation cases involving a wide variety of issues, including employment, insurance coverage, real estate, personal injury, medical negligence, and more.

Rob also serves as the part-time elected City Attorney of San Rafael (elected in 2007, reelected twice). Rob previously served as Town Attorney of San Anselmo (2006-2018), and City Attorney of Belvedere (2006-2018). Rob also has served as Interim Town Attorney for Tiburon, and has represented the cities of Corte Madera, Novato, Piedmont, and Petaluma in litigation matters. As a Marin County city attorney, Rob has provided legal advice and counsel to more than 40 elected city council members, 10 city managers, seven chiefs of police, and many other city staff members.

Rob regularly assists the Marin County Court as a judge pro tem for settlement conferences. Rob is a past president of the board of Legal Aid of Marin, past president of the Richard Sangster American Inn of Court (Marin/Sonoma/Napa), and past vice president of the board of the Osher Marin Jewish Community Center.

Rob graduated with highest honors from UC Berkeley with a degree in Rhetoric (1985), and attended UC Hastings College of Law (1991), where he served as a federal judicial extern for the Hon. Fern M. Smith (Ret.). A Marin County native, Rob resides in San Rafael with his wife, Lisa, and their three children.

Reported Cases

  • Richardson v. Franc (2015) 233 Cal.App.4th 744
  • Vita Planning and Landscape Architecture, Inc. v. HKS Architects, Inc. (2015) 240 Cal.App.4th 763
  • MHC Financing Limited Partnership, et al. v. City of San Rafael, et al. (9th Cir. 2013) 714 F.3d 1118
  • People ex rel. Harris v. Shine (2017) 16 Cal.App.5th 524


  • California State Bar


  • UC Berkeley, Berkeley, CA (BA Rhetoric)
  • UC Hastings College of Law, San Francisco, CA (Federal Judicial Extern)