Canisius won its third straight and clinched a first-round bye in the conference tournament.
Robertson finished with 14 points and Josiah Heath 16 points and 14 rebounds for his fifth career double-double for the Golden Griffins (15-12, 10-8 Metro Atlantic Athletic Conference). Jamal Reynolds added 10 rebounds and Jeremiah Williams 10 points.
The Griffins scored 12 straight points to take a 63-61 lead with 55 seconds left. Ford hit a pair of free throws to tie it before Robertson's winning shot.
Quinnipiac used an 8-0 run over the 1:55 of the first half to lead 29-22 at the break.