The 39-year-old professional dancer appeared on spin-off show It Takes Two on Tuesday night to discuss the performances during Blackpool Week at the weekend.
Robin first joined Strictly in 2010 and his last appearance was in the 2015 Christmas Special.
Zoe, 47, gave Robin a warm welcome back, saying: "Welcome back Bobby. We have missed you sir.
"What has been keeping you away from us for so long?”
Robin replied: "I've been on tour and I'm about to finish my farewell tour."
His comment left Zoe momentarily stunned in silence, before she asked with a gasp: "Your farewell tour?"
Robin nodded and said: "Yes and retire".
Zoe replied: "Everyone always says that though and comes back later… which we love. When is your last show?"
Robin – who wore a striking sequin jacket for his appearance on the show – then revealed it was this coming Sunday in London's West End, which left Zoe even more shocked.
She replied: "Oh my goodness me! It will be an amazing night. I’m coming and I’m having that jacket when you’re finished with it.”
During his time on Strictly, Robin was paired with Patsy Kensit, Anita Dobson, Deborah Meaden and Lisa Riley, where he reached the semi-finals.
He was unable to take part in the 2014 series due to injury but returned for that year's Christmas Special, where he reunited with Lisa.
His final appearance on the show was during the 2015 Christmas Special where he partnered Alison Hammond.
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