 Later that month he joined Fisher Athletic on loan to gain some first team experience.He made his Millwall debut on 9 September 2002, coming on as a second-half substitute for Darren Ward in a 2–1 home win against Preston North End.In December 2004 Robinson joined Torquay United on loan, playing twelve times before returning to Millwall and establishing himself as a first team regular, eventually gaining club captaincy under Lions' boss Kenny Jackett and establishing himself as a firm fan favourite.