The win - courtesy of three Greig Laidlaw penalties - ended the Scots' run of seven consecutive defeats.
"I am just delighted for the players and the management who have worked so hard," said Robinson.
"Also for the Scottish supporters, because it has been tough for them when the games have been so close and the team has been playing well, getting into good positions to win matches but not achieving that.
"I understand the disappointment, but for this group of players and management, there is a real belief and you saw the team spirit."
The next fixture in Scotland's summer tour is against Fiji on Saturday at Churchill Park.