Referring to his court case last year, Robinson, who was jailed for 13 months for contempt of court but freed on appeal, said the Attorney General is still considering three charges against him.
He said: “Know this, Attorney General, I don’t even know what your name is, know this – I dare you to charge me again because I just want to see the scenes outside the courts.”
The documentary, which lasted about an hour, showed former aide to Robinson Lucy Brown secretly filming a meeting she had with BBC investigative journalist John Sweeney.
It also showed Robinson, 35, confronting Sweeney during a planned interview for the programme.
The film ended with him showing supporters how to cancel their TV licences if they are “fed up with paying for their propaganda”.
He told the crowd: “We are constantly battling a media that lie.”
Ukip leader Gerard Batten also took to the stage in support of Robinson, and he urged protesters to join his political party.
He claimed the BBC regards Robinson as a threat to the establishment, and said: “He speaks up for things that are right, he tells the truth and he can mobilise lots of people like you, and that’s what they fear.”