The 25-year-old was club captain at The Sem Stadium, having joined from Cirencester Town in 2018.
He came up through the Cirencester youth ranks before making 18 first team appearances.
He is a talented ball player who was highly valued at Fairford.
Melksham manager Mark Collier told his club’s website: "I have watched Robbie several times. His signing will add size, strength and quality to our back four. He is committed, good with the ball and strong in the air. I am really pleased that we have secured his signature".
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