Peter Waldron Yates (August 23, 1747 – 1826) was a lawyer and statesman from Albany, New York. He was a delegate to the Continental Congress in 1786. Yates was the son of John G. and Rebecca Waldron Yates. His father was a blacksmith in Albany, but also owned a farm in Rensselaerswyck (in what is today the town of Bethlehem). Despite his background as one child in a large working-class family, Peter acquired an education, and read for the law. In 1767 he was admitted to the bar and married Ann Margarita Helms of New York City.
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