The wing dazzler told ShortList: "I had some very successful times at Madrid and I am glad I went there, but it was time to leave and I know I made the right choice.
"As soon as I became of Manchester City's interest, I knew I wanted to play in the Premiership and I was very happy that their ambition matched mine.
"They are hoping and working towards big things in their future and that is exactly the sort of ambition I am looking for."
City paid a British transfer record £32.5 million for Robinho, but he insists he is not daunted by the fee.
"This is what the modern game is now and you get used to it," he said.
"Madrid paid a lot more for Zidane and that was many years ago.
"You look at Zidane and say even though he was the most expensive player ever, he was good value for money because of what he produced on the pitch and what he helped Madrid to win.
"The transfer fee means nothing as long as you put good performances in on the pitch."