Robinson, whose real name is Stephen Yaxley-Lennon, the former co-leader of the English Defence League, led a group of far-right demonstrators through Chinatown.
Earlier, far-right groups and football hooligans clashed with police near Whitehall, shortly after Armistice Day commemorations ended.
The groups have come to central London as hundreds of thousands of pro-Palestinian protesters march through the capital.
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