Stole from cupboard finally put on bishop in formal dress (6)
I believe the answer is:
robbed
'stole' is the definition.
(robbing is a kind of stealing)
'cupboard finally put on bishop in formal dress' is the wordplay.
'finally' indicates one should take the final letters.
'put on' means one lot of letters go next to another.
'bishop' becomes 'B' (abbreviation used in chess).
'in' indicates putting letters inside.
'formal dress' becomes 'robe'.
The final letter of 'cupboard' is 'd'.
'b' put within 'robe' is 'robbe'.
'd' after 'robbe' is 'ROBBED'.
'from' is the link.
(Other definitions for robbed that I've seen before include "Stole" , "stripped" , "Took by force or without consent" .)