Medium Large Transport; Low Wing; 2 Turbojet Eng
Flight Crew Air Transport Pilot (ATP)
Communication Breakdown; Confusion; Distraction; Situational Awareness
Deviation / Discrepancy - Procedural Clearance; Ground Incursion Taxiway
Air Traffic Control Issued Advisory / Alert; Flight Crew Became Reoriented; Flight Crew Returned To Clearance
Procedure; Airport; Chart Or Publication
We were pushed back from C Concourse and were told by ramp to disconnect at [gate] short of Taxiway RG.  We called EWR Ground for taxi and were given the instructions: 'Taxi B; D; Short of V.'  The assumed exit point from the ramp is Taxiway RG.  As the First Officer on the flight; I turned my head to the right to see if we were clear right.  I was looking to the right and back at the wingtip to make sure we had proper clearance for the right hand turn.  By the time I looked forward again I realized the Captain had exited the ramp via the Entry only Taxiway referred to as 'Direct access for gate 83/85'.  He explained he turned when [he] saw the Taxiway RG sign.  However he turned prior to the sign; not after reaching the sign.  This early turn did not allow us to immediately turn onto taxiway B as instructed.  We instead had to taxi via S and then B. Ground pointed out to us that we did not properly exit the ramp and to next time use RG.We taxied to Runway 4L with no further incident.I believe the Entry only points should have 'DO NOT EXIT' signs when viewed from within the Ramp area.  This would have immediately given the Captain an idea he was not on Taxiway RG.  The sign for RG is right next to the Entry only Direct access taxiway for gate 83/85.  Also this taxiway is not labeled on our Jeppview page 10-9B.  It is the taxiway immediately south of RG.
A crew pushed back from the EWR C Concourse with clearance to disconnect at a gate near Taxiway RG; then taxi via B; D; Hold Short of V. Because of signage confusion the crew taxied out the throat to A then S; D to hold at V.