Robinson, whose 2011 international season was ruined by a serious knee injury, will feature in an all-NSW front-row as Australia try to bounce back from Tuesday night's upset loss to Scotland.
Coach Robbie Deans has brought in five new forwards and three backs to his starting line-up after the shock 9-6 defeat to the Scots in Newcastle.
Waratahs trio Robinson, Tatafu Polota-Nau and Sekope Kepu will start up front while NSW teammate Wycliff Palu will play No 8 and Reds lock Rob Simmons will start beside veteran Nathan Sharpe in the second row.
Centres Pat McCabe and Rob Horne replace Queenslanders Mike Harris and Anthony Faingaa in the midfield, while utility back Adam Ashley-Cooper takes over from Luke Morahan at fullback.
Under-pressure playmaker Berrick Barnes has been retained at five-eighth.
Uncapped Brumbies halfback Nic White has been named as a reserve and will become the 860th Wallaby if he makes his debut off the bench.
A world-class No 1, Robinson's last test for the Wallabies was at the end of the 2010 spring tour when Australia scored a record 59-16 victory over France in Paris.
Palu's inclusion means Scott Higginbotham moves from No 8 to blindside flanker, while back-rower Dave Dennis has kept his place in the 22 as Deans has elected against naming a specialist lock on the bench.
Saturday night's test in Brisbane is the first in a three-match series between the Tri-Nations champions and the Six Nations winners.
Australia beat Wales twice last season, downing them in the bronze play-off at the World Cup before scoring a 24-18 win in Cardiff in December.
Wallabies: Adam Ashley-Cooper, Joe Tomane, Rob Horne, Pat McCabe, Digby Ioane, Berrick Barnes, Will Genia, Wycliff Palu, David Pocock (capt), Scott Higginbotham, Nathan Sharpe, Rob Simmons, Sekope Kepu, Tatafu Polota-Nau, Benn Robinson. Reserves: Stephen Moore, Ben Alexander, Dave Dennis, Michael Hooper, Nic White, Anthony Faingaa, Mike Harris.
