The 70-year-old Time Team presenter joined anti-tunnel campaigners to fight the plans, saying they placed the area's wider archaeology at risk.
The protest by the Stonehenge Alliance was staged outside a consultation event in London earlier.
Highways England said it was working to find "the best solution possible".
The public consultation on its plans for putting the A303 into a 1.8-mile (2.9km) dual carriageway tunnel runs until 5 March.
Highways England says the move would cut congestion and improve journey times.
The scheme has the backing of English Heritage and the National Trust.
Speaking outside the Society of Antiquaries at Burlington House, Robinson suggested a longer tunnel.
He said: "I think the proposal we are being offered is a really old-fashioned one.
"It assumes what needs to be protected is that little clump of stones."
He said it was only over the past three decades archaeologists had begun to comprehend the wider significance of the site.
"That's a high-class Wiltshire Disneyland experience," he said.
"Once it's gone, we'll never get that back.
"If you were going to protect Buckingham Palace, you wouldn't put a tunnel in halfway down the Mall."
The Stonehenge Alliance wants other options to reduce traffic to be fully explored.
Spokeswoman Dr Kate Fielden said: "We want a genuine consultation with real choice.
"Both of Highways England's options involve huge and damaging new roadworks gouged into our most important ancient landscape."
A spokesman for Highways England said: "We fully understand the cultural heritage of the site and one of the broad objectives of the scheme is to help conserve and enhance the World Heritage Site by removing the sight and sound of traffic and make it easier to reach and explore."

About 80,000 works of art, ceramics, manuscripts, letters and photographs faced being auctioned to help pay off the pottery firm's pension debt.
But a public fundraising campaign launched in September hit its target in just a month.
Adminstrators Begbies Traynor said the collection will remain on display at the museum in Barlaston, Staffordshire.
The Art Fund, which led the campaign, will gift the collection to the Victoria and Albert Museum, before it is loaned to the Wedgwood Museum.
Administrator Bob Young said it had been "incredibly satisfying" to sign off on the sale on Monday.
"Today's fantastic outcome wouldn't have been possible without the spirit of goodwill and determination shown during the often complex negotiations," he said.
The Wedgwood Museum inherited Waterford Wedgwood plc's pension bill after the firm collapsed in 2009.
In 2010 the museum also went into administration, and in 2011 a high court judge ruled its collection could be sold to reimburse the Pension Protection Fund.
Alison Wedgwood, whose husband Tom is a direct descendant of company founder Josiah Wedgwood, said the collection was "important" for Staffordshire.
The collection risked being "sold and scattered around the globe" had the money not been raised, she added.
Tristram Hunt MP, who was involved in the campaign, said the sale was "fantastic news".
"The items contained within the Wedgwood collection chart a significant part of Britain's cultural development over centuries and play a crucial part in defining our national identity today," he said.
Actor and broadcaster Sir Tony Robinson has said plans for a tunnel near Stonehenge in Wiltshire are too "old-fashioned" in outlook.
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The Wedgwood Museum collection has been bought from administrators after £15.75m was raised to save it.