The former girlfriend of X Factor winner Matt Cardle had been reported to have had an affair with Quinn after they met when he provided security for the first X Factor tour.
However, Quinn himself later dismissed reports romantically linking the pair.
Robinson stated that they were only "very good friends", and that she did not break up Klass's marriage.
"He's one of the kindest people I have ever met. He is so lovely and I really mean that. My name is out there, saying I've had this affair - and I'm just not having that," she told The Sun.
"I did not break up Myleene's marriage to Graham and nobody should blame me. It was clear there had been problems in their relationship for some time but nothing has ever happened between us.
"It was apparent that their marriage wasn't going very well. I just got the feeling that things were a bit difficult between them. You can just tell. I would ask, 'How's things?' and he would be just like, 'Yeah'.
She added: "But I think the way Graham has been made to be the bad guy is horrible. I don't think he walked out on her birthday, as has been claimed. He wouldn't do that.
"I think they effectively split a long time before that. He's not that type of person. He's a decent guy."
Myleene Klass's marriage to Graham Quinn ended after six months in June.