Police said Robinson was arrested after officers pulled him over in the Bronx at about 5:30 p.m. and discovered he had a suspended license.
The Knicks guard was taken to the 52nd Precinct and charged with aggravated unlicensed operation of a motor vehicle and issued a summons to return to court at a later date, police said.
A Knicks spokesman said they were aware of the situation and would discuss it with Robinson directly.
Robinson is a restricted free agent, meaning the Knicks can match any offer he receives from another team. The club has said it hopes to keep the popular guard at the right price.
Robinson was in New York to work at a basketball camp. In a series of postings on his Twitter page late Tuesday night, he apologized to the Knicks, his family and his fans, and thanked the police.
The NBA's slam dunk champion explained that he believed he was being pulled over for tinted windows but learned it was because he had an unpaid ticket that led to the suspended license. He added the matter would be cleared up.