Robinson, a veteran of seven NBA seasons, averaged 11.2 points and 4.5 assists per game last season for the Golden State Warriors.
Golden State coach Mark Jackson tweeted: "The Bulls got a good one. It was a Pleasure coaching u."
In past seasons, Robinson has proven to be a prolific scorer. In 2008-09 he averaged a career high 17.2 points per a game for the Knicks. In spite of standing just 5-foot-9, Robinson also is the only player in NBA history to win the slam dunk contest three times.
ESPNChicago.com's Nick Friedell contributed to this story.