Robinson, 34, has missed a year of action after undergoing a back operation and later developing a blood clot on his lung.
The road to return has been long and hard for Robinson, who played in a behind-closed-doors friendly last week prior to Monday's appearance for Rovers' youngsters against Middlesbrough.
"It is nice to be playing, it has been a long, long time," the goalkeeper told Blackburn's official website.
"It is just nice to be back out on the pitch again, it is nice to be playing.
"I was looking forward to the game more than anything, I played a game at the training ground last week but didn't really get much out of it to be fair as it was played in difficult conditions and not a lot in it. But I feel I got a lot out of the game (against Middlesbrough), this is what I've been waiting for."
While acknowledging that a return to competitive football is a major development, Robinson is cautious when it comes to circling a date in the calendar for his first-team return.
Robinson, who has not played for Blackburn's first team since December 7 2012, added: "It is a huge step, it is almost exactly 12 months since I last played, for somebody in my position it is difficult not to have played for 12 months.
"I've gradually built up my training and my fitness work, I've worked really hard with the goalkeepers and the goalkeeping coach to get my bearings again, to get my goalkeeping fitness again - because it is a completely different fitness - then integrated back in the team with small-sided games. Then the next step was to play in a full game.
"I'm almost there, it is just that final bit, I need to keep pushing and working hard and hopefully it will come.
"I feel good, I don't want to put a time or a date on it or anything, but I feel good. I'm enjoying my training, I'm absolutely delighted to be playing again and I'll just see how the next couple of weeks go.
"For me it is a big step just getting a game. I'll play as many games as I can at the moment."