Do people generally feel that Robb Stark made a mistake by not killing Jaime Lannister when he had the chance?

No. Killing Jaime meant the Lannisters had an excuse to kill Sansa, and would have cost Robb whatever leverage he had against Tywin.

I think the biggest mistake Robb made with Jaime was probably not being more proactive in ransoming him. Obviously a straight Jaime-for-Sansa trade wouldn't have done, but Robb could have asked for Sansa and other concessions, like other northern hostages, a ton of gold, a Riverlands ceasefire, etc. But Robb just sitting on Jaime didn't do him any good.

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Kelsey L. Hayes on Quora:

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