White Plains police say an officer spotted Robinson urinating on a sidewalk outside a bookstore just before 2 a.m. ET Friday.
Authorities told reporters that Robinson was taken to police headquarters, issued a summons and ordered to show up in court June 22. The offense normally carries a $50 fine.
Robinson posted a message on Twitter on Friday saying he made a "silly mistake." He promised it wouldn't happen again.
Thunder spokesman Brian Facchini says the team is aware of what happened but would have no comment.