Prosecutors in Fort Bend County say Roderick Darnell Johnson on Tuesday pleaded guilty to aggravated robbery.
Investigators say Robinson was held at gunpoint during the September 2007 robbery at his residence in Missouri City. Cash and jewelry were stolen.
Authorities say Johnson's cousin, Terrence Johnson, earlier pleaded guilty to robbery in the case and is serving a 25-year prison term.
Robinson, who is an unrestricted free agent, declined comment on the criminal case.