"I firmly believe that - with the passion for rugby in the region and the vision of the owners - Bristol has the potential to be one of the most successful sides in England," Robinson said on the club's website.
Robinson, who had a disappointing spell as England coach between 2004 and 2006, resigned as Scotland coach in November after a 21-15 home humbling by Tonga extended a poor run of results.
Former England international Robinson said his first goal was to help fourth-placed Bristol back to the Premiership, where the club last played in the 2008/09 season.
