The historian was on BBC Radio 4’s Today programme, where he was discussing the historic significance of last June’s Brexit vote.
Dr Starkey was drawing comparisons between the European divorce and the break from the Roman Catholic church under Henry VIII in the 1530s.
The historian mocked the previous segment about Labour’s Brexit strategy, claiming it was “tedious” and unlike Leave supporters, the Labour Party doesn’t know what it is doing.
This led to Robinson to interject, he said: “I invite you on this show and you attack…”
David Starkey launched an astonishing attack on Nick Robinson during their Brexit discussion
Shut up Nick and listen to somebody who actually knows something
However, his intervention left Dr Starkey seething, leaving him to launch his own interjection.
He blast: “Shut up Nick and listen to somebody who actually knows something!”
Moving back onto topic, Dr Starkey continued: “They wanted independence, they wanted self-determination, they wanted self-government.
“This is precisely what Henry VIII tackled and he did it in ways which are astonishingly similar to Brexit.”
Dr Starkey then proceeded to compare “moaning Remainer” Nick Clegg to Thomas More, a 16th Century Commons Speaker, who was executed for refusing to acknowledge Henry VIII as the legitimate king after Britain’s split from the Roman Catholic church.
The historian has been a staunch critic of interference in the Brexit process, recently blasting the House of Lords for their attempt to delay the Government’s bid to honour the Brexit vote.
Appearing on BBC’s This Week, he said: “The House of Lords tried to stop the clock on Brexit.
“We are about to embark on an almighty battle to extricate ourselves from Europe, the last thing we want is a bunch of truculent peers breaking ranks before we’ve even begun.
“Some Tory Brexiteers want the Prime Minister to call a snap general election, to give her an unimpeachable mandate for her plans for a ‘hard’ Brexit – thus neatly cutting the ground from under our rebellious peers.
Brexit day LIVE: images from around the country as Britain invokes Article 50 Wed, March 29, 2017
The country reacts as Theresa May officially invokes Article 50, and begins the process of Britain leaving the European Union
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Nigel Farage, former leader of UKIP, gives an interview outside the Houses of Parliament
“But, they are taking a sledge hammer to crack a bunch of coronated nuts. The Prime Minister already has an impeachable mandate – the 52 per cent who voted for Brexit.
“She should use this mandate to threaten, and if need be, to carry out a mass-creation of peers who are committed to orderly progress of Brexit.
“The Prime Minister shouldn’t stop at Article 50 and Brexit, the new peers should also be committed to a longer overdue reform of the bloated, anachronistic, expensive and increasingly indefensible Upper House.”
Despite the intervention from the Lords, Prime Minister Theresa May has been able to deliver the letter, which formally notifies the EU of Britain’s intention to quit its membership of the bloc and begin negotiations.