Robinson was anxious to meet Joseph Priestley in Birmingham, and travelled there at the beginning of June 1790. On Sunday 6 June, he preached two Charity Sermons, in the morning at Priestley's New Meeting Chapel, and in the afternoon at the Old Meeting Birmingham, both in aid of the Sunday Schools of the Old and New Meetings. While in Birmingham, Robinson stayed in Showell Green, at the home of the Unitarian benefactor William Russell (1740–1818), Priestley's friend and sponsor at Birmingham. It was here that he died, in his sleep, in the early hours of Wednesday 9 June 1790.