The former Liverpool defender has passed a medical at the City Ground and is set to sign a two-year deal with Aitor Karanka's men.
Robinson impressed for QPR last season figuring primarily as a centre-back and making 31 appearances for the London club and his versatility in that he can play at left-back as well as centre-back makes him an attractive proposition to Karanka.
Robinson began his career at Liverpool and had loan spells with Wolves and Blackpool, before eventually moving to QPR in the summer of 2014. He had a further loan spell with Huddersfield Town, before returning to QPR in 2015.
Forest have been busy in the transfer market so far this summer as they look to build a squad capable of challenging for promotion to the Premier League and Robinson is poised to become the club's sixth new signing.