Robinson marched next to Major John Buttrick at the head of the American column which advanced on and defeated the British Regulars at the Old North Bridge that day.

Robinson would later fight at the Battle of Bunker Hill, serve under General George Washington during the Siege of Boston and, in 1786, he would take part in the agrarian insurrection known as Shays' Rebellion.

At age 29 he married Miss Huldah Perley of Boxford, Massachusetts, the niece of French and Indian War Major General Israel Putnam of Pomfret, Connecticut.

Joseph Thaxter, and a handful of Westford Minutemen rode on horseback and arrived at Concord in time to participate in the engagement at the Old North Bridge.

His bravery and valor in outflanking a charge of British regulars along a low fence on Breed's Hill was noted by Prescott in an August 25, 1775 letter to Continental Congressman John Adams.

Little is known of his actual role in the rebellion, his great-Granddaughter Olive Ann Prescott, describing his action as "an honest mistake" yet noting that he always had fought "with an innate hatred of injustice wherever found".

[9] It is known that he acted in concert with Job Shattuck of neighboring Groton, MA, a notable leader in the uprising who Robinson had commanded in Prescott's militia and at the Regimental camp at Cambridge.

A memorial plaque is placed at the entrance to the Westlawn Cemetery on Concord Road in Westford, where Robinson is buried, put there by the Daughters of the American Revolution.