Robinson has slammed Tudor for hooking goalkeeper Kinsky on 17 minutes after two clangers in their 5-2 Champions League defeat at Atletico Madrid. Tudor had initially dropped No1 Guglielmo Vicario for Kinsky before eventually sending on the Italian.
Robinson told BBC Radio: "He's making decisions that he maybe thinks is going to one, keep him in a job, or two, keep Tottenham in the Premier League and performances are going to turn around.
"It was a very selfish decision as a manager.
"Actually, when you rewind the clock, I think he brought Kinsky in tonight because Vicario has been poor. Vicario has made errors that have led to goals and he has cost Tottenham points in the league, of late. I think he brought Kinsky in tonight thinking that if he does well I have got an excuse to keep him in now until the end of the season.
"He reverted on that decision very, very early on in the game. I have never seen that in my playing career, in my broadcasting career, I have never seen a manager substitute a goalkeeper so obviously because of the mistakes that he made.
"It's quite blatantly for self preservation by the manager because it was a decision that he thought was best for him and his team at the time, without consideration for the young goalkeeper."