The 54-year-old former Wallabies flanker succeeds England's Bill Beaumont who steps down after eight years.
Robinson obtained 27 votes with former French international Abdelatif Benazzi receiving 25 in the second round of World Rugby Council voting. Italy's Andrea Rinaldo bowed out in the first round with nine votes.
"It is a great privilege, it is a game I have been close to all my life," said Robinson at a press conference.
"It is a proud moment. I would like to recognise Bill Beaumont for his eight years of leadership."
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