Robert G. Johnson, Jr. graduated from the United States Naval Academy at Annapolis, Maryland, in June, 1966 and was elected secretary of his graduating class of 868 midshipmen. While an undergraduate, he held academy records in Swimming, and was inducted into the Naval Academy Swimming Hall of Fame. He held the National Freshman record in the individual medley while a plebe. Prior to graduation, Johnson was awarded the Navy Commendation Medal for saving a Navy Seaman from drowning who was rigging night lights on the Navy fleet of sailing boats and trying to recover a runaway launch boat in the Chesapeake Bay. Johnson was the second Midshipman in the 165 year history of the Academy to be awarded the medal prior to graduation.