The 20-year-old full-back, who is said to have attracted interest from a number of other Premier League clubs including West Ham and West Brom, is expected to join the Tigers for a fee reported to be in the region of £3million.
Robertson only joined from Queen’s Park last summer after being released from Celtic earlier in his career, but he soon took to life in the Scottish Premier League and impressed in his 36 appearances last season.
English football now appears to be the next step for Robertson and McNamara confirmed that the defender’s future is in his own hands ahead of meeting with Hull.
"Andrew’s going down to speak to them. The two clubs have agreed a fee so we’ll find out in the next couple of days whether it’s either a yes or no - hopefully it’s a no," he told the Daily Record.
"We’ll wait and see. It’s all down to Andrew and his family, the decision he makes. He’s got to speak about personal terms, his future.
"Selfishly, I hope he decides to stay another year but sometimes these things are out of your control."
Robertson caught the eye of Scotland boss Gordon Strachan, who handed him an international debut in March’s 1-0 win over Poland, while he also claimed the PFA Scotland Young Player of the Year award at the end of last season.
McNamara said: "It’s a fantastic story. A year ago he came in with his parents, playing part-time football.
"What’s happened to him up to now – bids of crazy money, Young Player of the Year, Scotland regular – it’s a great message to any young kid who has been rejected."