The 30-year-old is now set to line up for Sale Sharks in Saturday's European Challenge Cup semi-final first-leg tie against Connacht, and will hope to prove both fitness and form to Lions coach Sir Clive Woodward ahead of the squad announcement on April 11.
Robinson, who took over as England captain from an injured Jonny Wilkinson earlier this season, damaged his thumb during the defeat against Ireland at Lansdowne Road last month and subsequently underwent surgery.
He then missed the Twickenham victories over Italy and Scotland, with Leicester number eight Martin Corry stepping in as skipper.
"The specialist has given me the go-ahead," said full-back Robinson.
"He was satisfied that the injury I sustained playing for England against Ireland had fully healed. I am really looking forward to playing in the game on Saturday."