The Sheffield-based diver calls time on his career on the board after winning his first ever international medal at the recent Commonwealth Games, where he claimed bronze alongside Freddie Woodward in the men's 3m synchronised springboard.
"After 21 years of diving and 13 of those competing for Great Britain I have decided to hang up my trunks," Robinson-Baker said.
"The highlights of my career were definitely becoming the World Series champion, placing fifth in the Olympic final in London in front of a home crowd and to top it off becoming Commonwealth bronze medallist.
"Competing for my country at the highest level was a real honour. It's the end of an era but I am very excited about what my future holds."
As well as winning with England at the Commonwealths, Robinson-Baker also represented Team GB at the last two Olympic Games and three World Championships.