A novel gravity theory based on Poisson Generalized Geometry is investigated. A gravity theory on a Poisson manifold equipped with a Riemannian metric is constructed from a contravariant version of the Levi-Civita connection, which is based on the Lie algebroid of a Poisson manifold. Then, we show that in Poisson Generalized Geometry the R-fluxes are consistently coupled with such a gravity. An R-flux appears as a torsion of the corresponding connection in a similar way as an H-flux which appears as a torsion of the connection formulated in the standard Generalized Geometry. We give an analogue of the Einstein-Hilbert action coupled with an R-flux, and show that it is invariant under both β-diffeomorphisms and β-gauge transformations.