He was the son of Samuel Robinson, Sr. (1707–1767), one of Vermont's earliest white settlers.
[1] At the age of 17 he served in his father's company of militia during the French and Indian War.
[2] The younger Robinson succeeded his father as one of Bennington's agents who attempted to resolve the dispute between New York and New Hampshire over control of colonial Vermont.
[3] During the American Revolution Robinson was active in the militia, commanding a company at the Battle of Bennington and rising to the rank of colonel.
As Judge for the court with jurisdiction over southern Bennington County, in 1778 Robinson presided over the trial of David Redding, who had been accused of stealing a horse.