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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.
In 1768 Yates opened a law practice in Albany. His practice was very successful for over thirty years, even though interrupted by the Revolutionary War. In its later years he trained a number of young men in the law. His political career began in 1772 when he was elected to the Albany city council. He would be reelected annually for several years until the last council meeting under the colonial government in March 1776.