Lee Mendoza's answer may well work if ListData.svc is running and / or you have administrative access to the SharePoint server.
If both of them are incorrect: the following may work. At least this is for me in SharePoint 2010. If there is a better way to do this when ListData.svc is missing, I would like to hear it.
library(RCurl) library(XML) library(data.table) URL <- "http://<site>/_vti_bin/owssvr.dll?Cmd=Display&Query=*&XMLDATA=TRUE&List={GUID_OF_LIST}" rawData <- getURL(URL, userpwd = "username:password")
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