His children, from oldest to youngest, are:
1) James Cook (Junior) (November 13, 1763 - December 28, 1794)
- He joined the Royal Navy in 1778 and, like his father, rose to the rank of Commander. He was killed during an expedition to the Bering Strait in 1794.
2) Nathaniel Cook (December 14, 1764 - October 2, 1781)
- He also joined the Royal Navy and served on his father's third voyage. He died of tuberculosis in 1781 at the age of 16.
3) Elizabeth Cook (April 15, 1767 - May 13, 1771)
- She died at the age of 4 and is buried in Stepney, East London.
4) Joseph Cook (August 25, 1768 - September 11, 1768)
- He died in infancy and is also buried in Stepney.
5) Sarah Cook (April 24, 1770 - February 18, 1821)
- She married a Royal Marine officer named John Rickman in 1792.
6) Hugh Cook (May 21, 1776 - October 19, 1793)
- He entered the Royal Navy in 1788 and served on several ships, including HMS Victory. He died of yellow fever in 1793 at the age of 17.