Hoke told ESPN.com on Thursday that Robinson, the 2010 Big Ten Offensive Player of the Year, is part of the Wolverines' future.
Asked if he expects Robinson to be with Michigan going forward, Hoke replied, "Yes. I don't question that at all."
Robinson set the single-season FBS quarterback rushing record this season with 1,702 yards and ranked 20th nationally in pass efficiency. He flourished in former coach Rich Rodriguez's spread offense, which led some to believe he would leave Michigan after the school fired Rodriguez on Jan. 5.
"I am not surprised," athletic director Dave Brandon wrote in an e-mail. "But nevertheless delighted that Denard has confirmed his decision to stay at the University of Michigan to earn his degree and provide leadership to our football team."
Robinson's high school coach said 10 to 15 schools had called him by Wednesday afternoon, expressing their interest in the dual-threat QB if he chose to transfer.
Hoke, hired Tuesday to replace Rodriguez, met with Robinson for about 20 minutes Wednesday and again Thursday.
"We've had great conversations," Hoke said. "I'm so impressed with him as a kid and his humility and his vision and his love for Michigan. So that's been real positive. It's just fun being around him.
"He wants a Michigan degree and he feels very good about Michigan."
Adam Rittenberg covers Big Ten football for ESPN.com. He can be reached at firstname.lastname@example.org. The Associated Press contributed to this report.