With the Rams chasing an equaliser Bartosz Cybulski went for a rebound but appeared to be dragged to the ground by Ben Cabango inside the box - sparking Derby appeals.
Rooney claimed everyone in the stadium could see it was a penalty except the officials.
But the former Manchester United man overstepped the mark by suggesting Robinson should be banned, and he will likely be sanctioned by the FA for his remarks.
Rooney said: "I think everyone in the stadium agrees (it was a penalty), the Swansea manager, the Swansea staff, the Swansea fans, Derby players, staff, fans, everyone saw it was a clear penalty apart from the four officials.