Queen Esther Guadalupe was born July 14, 1928, in Bay St. Louis, Mississippi, to Willie and Margaret (Tolliver) Robinson, the second of their children. The family later moved to Gulfport, where Queen and her brother Willie Lee were recognized as prodigies—she on piano, he on clarinet. From ages 12–14, Queen played professionally for churches across the South. After Willie's passing, the family relocated to Los Angeles, where they joined Victory Baptist Church in 1943. Queen faithfully served as pianist and a devoted student of God's Word.

At 16, Queen graduated from Jefferson High School. She went on to earn an Associate's degree in Education from Los Angeles City College and a Nursing Certificate from East Los Angeles Junior College. She was blessed with two children: Margaret Anita (Washington) Milton and David Taylor Washington Jr. A Licensed Practical/Vocational Nurse (LPN/LVN), Queen worked in California, Florida, and Nevada, serving her patients and community with compassion.

Queen was married five times, often joking, "I never met a man who didn't want to marry me." Beyond nursing, she was a foster parent in California and Nevada, provided respite care through the Children's Home Society, and continued teaching and mentoring through music. When her mother was diagnosed with Alzheimer's, Queen relocated to Florida to be near her mother's siblings, leaning on the support of cousins while continuing her work and service.

She was preceded in death by her parents; siblings Willie Lee, Elliot Foster, Viola (Foster) Stockmaster, and Carolyn (Robinson) Airy; her children Margaret Anita Milton and David Taylor Washington Jr.; and grandson Brian Washington.

She leaves to cherish her memory: granddaughter Roxanne Milton, whom she raised as her own; grandson David Taylor Washington III; granddaughter Jacqualine Lewis; bonus children Linda Mitchell, Tim Whitehead, Keith Whitehead, Kim Hall, and Dale Whitehead; great-grandchildren Astari (Jordan) Hurd, Kenneth Allen (Chenae) Burke II, Celeste LaRen (George) Washington, Michael A. Patterson III, Mary K. Heard, Breana Washington, Brittany (Dane) Ventura, and Brian Washington Jr.; and great-great-grandchildren Kai & Hope Hurd, K. Noah Burke, Love & Logan Patterson, Arian Mims, Mariah Washington, Kaliyah & Koran Washington, and Khalil & Kaleb Williams.

Queen Esther's life was one of music, faith, resilience, and love. Her legacy will continue to inspire all who knew her. Her service will be held at Grant Chapel A.M. E on 387 East Franklin Ave in Oviedo FL on Tuesday, September 2nd at 11:00 am. She will be laid to rest at the feet of her mother at Boston Cemetery in Oviedo Florida.