Robert Allen "Bob" Peters, Jr., 71, died on Sunday, April 9, 2023 at Avantara - Saint Cloud in Rapid City.  He was born in Jacksonville Florida, on January 4, 1952 to Robert Allen Peters, Sr. and Geraldine Hattie (Landrum).  Bob is survived by his beloved wife, Denise, son, Christopher Wayne Peters (Shantha), daughter, Desiree Michelle Stivers (Christopher), five grandchildren and his sister, Nancy Holt.  He was preceded in death by his parents.  Arrangements are private and no public services are planned.  Bob was dearly loved and will not soon be forgotten.