Brandon Jennings, Samuel Dalembert and Mike Dunleavy each scored 13 points for the Bucks (2-1), who shot 41.9 percent from the field. Rookie John Henson exited with a left knee injury and did not return.
The Bucks pulled to 94-91 after a 14-4 run capped by Beno Udrih's two free throws with 3:02 left.
Robinson responded with a jumper, and Hamilton and Carlos Boozer each hit two free throws to put the game away.
Milwaukee pulled within six in the third quarter, but the Bulls answered with a 13-3 run for a 79-63 lead.
The Bulls last trailed 30-29 late in the first quarter, but Robinson hit a 35-footer before the buzzer to give Chicago the lead for good.
Nazr Mohammed scored eight points during the Bulls' 17-2 run to open the second quarter, extending Chicago's lead to 49-32.
SVP, Stanford Steve and Brendan Haywood, explain how they tried to spice up the fourth quarter of the Cavaliers' blowout victory over the Raptors in Game 5.
NBA commissioner Adam Silver sits down with Cassidy Hubbarth to provide his reaction to the officiating being a big storyline throughout the playoffs.
Scott Van Pelt explains why the Warriors potentially losing to the Thunder would be different from other teams that have had great success in the regular season only to fall short in the playoffs.