The 76ers led 92-89 on Harvey Grant's lay-up with 47 seconds remaining in Tuesday night's game before Tyrone Hill's rebound basket brought the Bucks within one. After Allen Iverson missed a driving lay-up with 19 seconds left, Robinson hit the game-winner from the left corner.
Terrell Brandon led Milwaukee with 15 points, while Iverson scored 23 points for Philadelphia, 17 in the second half.
In Cleveland, Shawn Kemp scored 18 points and Vitaly Potapenko had 16 to lead Cleveland to its third straight win, 90-78 over Orlando. Potapenko scored eight points in the first quarter as Cleveland jumped to a quick 14-2 lead and led by 15 points entering the second quarter.
In East Rutherford, New Jersey, Keith Van Horn scored a career-best 35 points and New Jersey pulled away from Detroit in the second half for a 97-82 victory. The win ended New Jersey's three-game losing streak, while the Pistons suffered their fourth successive setback.
Allan Houston scored 20 points for the Knicks against the Raptors in New York to spoil Charles Oakley's return to Madison Square Garden with a 95-85 victory.
Oakley had 11 points, seven rebounds and five turnovers for the Raptors, who were led by rookie Vince Carter's 17 points.
In Indianapolis, PJ Brown scored a season-high 22 points and Alonzo Mourning added 19 as Miami won its third game in a row by defeating Indiana 89-78. Indiana's Reggie Miller was held to 11 points on 4-of-9 shooting and was ejected after being called for two technical fouls in the final quarter. The Pacers were led by Chris Mullin's 16 points.
Steve Smith scored 17 points and Alan Henderson added 14 as Atlanta downed Chicago 83-67. Chicago got 27 points and 10 points from Toni Kukoc, but it wasn't enough to keep the Bulls from dropping to 1-5, their worst start since 1978-79. They have lost four successive games at home for the first time since 1993-94, in the days when Michael Jordan was off playing baseball.
In Houston, Hakeem Olajuwon had 19 points and 11 rebounds and led a key third-quarter charge as Houston ended Phoenix's nine-game winning streak with a 109-92 victory. Olajuwon got plenty of help from Scottie Pippen, who had 19 points, 12 rebounds and nine assists. Phoenix had six players in double figures, led by Tom Gugliotta and Jason Kidd with 14 each.
A cocktail waitress who accused Dennis Rodman of grabbing her breast cannot mention previous lawsuits against him in her own suit, a judge ruled on Tuesday. But the woman, Susan Patterson, did win a ruling that allows her to keep a claim of emotional distress in her lawsuit.
Patterson also accused Rodman of assault, battery, negligence and false imprisonment.
The former Chicago Bulls star, who appears close to signing with the Los Angeles Lakers, is accused of jamming a $100 note down Patterson's blouse and grabbing her breast.
Patterson seeks general and punitive damages, which would be determined at trial. No date was set.