Ben Cohen makes way for Voyce, with Simpson-Daniel replacing Jamie Noon, Ellis earning a start instead of Matt Dawson and Stevens taking over from Phil Vickery.
Deacon is the solitary debutant in the starting line-up but there are two more uncapped players on the bench - Perpignan prop Perry Freshwater and Leicester speed merchant Tom Varndell.
Robinson has made a conscious effort to sharpen England's attacking edge with the inclusion of Voyce and Simpson-Daniel, who are among the most prolific tryscorers in English domestic rugby.
Voyce wins his fourth cap, but it will be his first start at Twickenham, while Simpson-Daniel lines up for the eighth time in England colours, partnering his Gloucester colleague Mike Tindall in midfield.
Deacon, 25, is a product of the Wigston club in Leicestershire, the same schooling ground for England's World Cup-winning captain, Martin Johnson, and he gains the reward for some outstanding performances in Leicester colours this season.
Robinson rates him as potential World Cup 2007 material and he now has a golden opportunity to stake a claim ahead of England's Six Nations campaign, which begins in February.
Simpson-Daniel made his England debut against the All Blacks three years ago but a combination of illness and injuries restricted him to just six further appearances.
He is a skilful and creative player while Voyce will also look to showcase his attacking instincts.
Ellis was preferred to Dawson during the Six Nations last season but Dawson then gained a recall for the Australia clash, so Ellis will view this as an opportunity to re-establish himself on the international scene.
Stevens was first capped on England's tour of New Zealand and Australia last year before starting three Tests during the 2005 Six Nations and like Deacon, he could prove to be a key member of the 2007 World Cup squad.
Varndell's appearance on the bench is a rapid promotion but his try-scoring displays for Leicester this season have earmarked him as a player of great promise, and if he gets a run on Saturday, then Samoa's defence could be in for a torrid time.