Though he was a missionary, he was not paternalistic, looking down on the African souls to whom he ministered. He felt that African Christians should be full partners in the Presbyterian Church that he was so deeply a part of. As the pastor of the Church of the Master, through his international travels to Africa, Asia, and the Middle East, Robinson was aware that the people of Harlem had the same issues that plagued many so-called Third World nations. He developed various community programs in Harlem, including a mental health clinic with trained psychologists, through the Morningside Community Center.

He was a supporter of the NAACP and the Urban League, and, because of his association with the NAACP, during the McCarthy with hunts, he was persecuted and had his passport temporarily revoked because of his association with the NAACP. He was not a Communist and did not support communism. When Reverend James Robinson began Operation Crossroads Africa, in 1958, one of his goals was to introduce Americans to the rich culture and histories of the nations on that vast continent. The organization the he founded is still in existence.

His work inspired the creation of the Peace Corps for whom he served as vice president and advisor.

https://operationcrossroadsafrica.org/founder