Dawson, England's most capped scrum-half, returns to the fold after Robinson demoted him from the elite player group last September when his television commitments as a team captain on Question of Sport assumed priority over a national squad session.
'Selecting the scrum-half position was a close call,' admitted Robinson.
'However, I have decided to start Matt Dawson, who has shown great form for his club and can offer tremendous experience, with Harry Ellis on the bench.'
The unfortunate Gomarsall misses out completely, and Robinson's ''close call' verdict will be of little consolation.
'Selection for the team to play Wales was very close indeed, with several players close to making the starting XV,' said the coach.
'Obviously, injuries were also a factor in the selection process, but I am confident this is a strong team to face Wales on Saturday.'
Elsewhere, Leicester forward Kay will make his first England start since last season's Six Nations, although Borthwick can consider himself unlucky to be relegated to the bench, while Hazell, Tait, Noon and wing Mark Cueto have no championship experience at all.
Ellis and Borthwick apart, the bench also includes fit-again World Cup prop Phil Vickery and his uncapped Gloucester colleague, back-row forward James Forrester.
The biggest worry for Robinson surrounds Grewcock, who could still overshadow Test week by facing a possible citing after stamping on Lawrence Dallaglio during Bath's Premiership victory against Wasps two days ago.
If a complaint is lodged against Grewcock by the Rugby Football Union's independent citing officer - he has until Wednesday night to decide - then Grewcock could not play international rugby until the case is heard.