An England XI including several members of Robson's 1990 World Cup squad took on a team of their German counterparts in a game to raise money for the 76-year-old's own cancer charity.
Newcastle legend Alan Shearer, whose every touch and winning goal were greeted with huge roars, also featured while celebrities such as Craig David, Jimmy Nail and Angus Deayton were on the bench.
Robson, in a wheelchair as he battles cancer for a fifth time, was introduced to both teams and presented with a lifetime achievement award by UEFA before kick-off.
England came from behind to win 3-2.
Germany raced into a 2-0 lead with early goals from Thomas Helmer and Fredi Bobic but England hit back before the break with a Les Ferdinand header and a well-struck Alan Thompson free-kick.
Shearer scored 11 minutes from time after he was brought down for a penalty by Jens Nowotny and stepped up to score.