From August to December 1991, he worked as Deputy Chairman of the State Committee of the RSFSR for Emergency Situations.

From December 1991 to January 1994, he was the First Deputy Chairman of the State Committee of the Russian Federation for Civil Defense, Emergencies and Elimination of Consequences of Natural Disasters.

From January 1994 to April 2007 he was the First Deputy Minister of the Russian Federation for Civil Defense, Emergencies and Elimination of Consequences of Natural Disasters.

From August 1991 to December 1991, he worked as Deputy Chairman of the State Committee for Emergency Situations of the RSFSR.

Between December 1991 and January 1994, he was the First Deputy Chairman of the State Committee of the Russian Federation for Civil Defense, Emergencies and Elimination of Consequences of Natural Disasters.

He had headed the task force of the State Committee for Emergency Situations of the Russian Federation in the North Ossetian Autonomous Soviet Socialist Republic since June 1992.

Between January 1994 and April 2007, Vorobyov was the First Deputy Minister of the Russian Federation for Civil Defense, Emergencies and Elimination of Consequences of Natural Disasters, serving under Sergey Shoygu.

In 1997, he was the Chairman of the Interdepartmental Maritime Coordination Commission for the Prevention and Elimination of the Consequences of Emergencies at Sea and in the Water Basins of Russia.

He coordinated the work of the Federation Council Committee on Agrarian and Food Policy and Environmental Management.

He had headed the delegation of the Federation Council to the Parliamentary Assembly of the Collective Security Treaty Organization.

As the chairman of the Expert Council of the Ministry of Emergency Situations of Russia, Vorobyov designed to provide expert support to the management in the field of civil defense, protection of the population and territories from emergencies, ensuring fire safety, safety of people at water bodies in cases of extreme difficulty in preparing and making decisions on the conduct of work to prevent emergencies, and uniting more than 40 leading scientists of the country in the field of security.

Since August 2014, he became the Chairman of the Committee for Public Support of Residents of the southeastern Ukraine under the Federation Council.

The work of the committee is aimed at coordinating the activities of the constituent entities of Russia, public organizations and citizens to provide humanitarian assistance to residents of southeastern Ukraine, assistance to refugees and internally displaced persons who arrive on the territory of our country.

Since November 2014, he was the Chairman of the Governing Council of the All-Russian Public Organization Russian Geographical Society.

He was also a member of the Board of Trustees of the All-Russian Children and Youth Military Patriotic Movement "YUNARMIA".

The mentor of the children's educational center is the cadet school "Ship of Prionezhia" named after him, as Vorobyov was awarded the title Hero of the Russian Federtion.

Andrey is the eldest son, who had been the Deputy Chairman of the State Duma, the head of the United Russia faction in the State Duma of the sixth convocation (2011-2012), head of the Central Executive Committee of the United Russia party (2005—2012), and currently serving as the Governor of Moscow Oblast since 2013.