Brian was left with a fractured collarbone and ribs, a punctured lung and a deep cut to his arm when he was in collision with the car during a bike ride with friends in Thornhill Lees last year.
But the 84-year-old, who was the first Briton to win a Tour de France stage and still rides 80 miles a week, was back in the saddle just six weeks after the accident.
The collision happened on July 16 last year, less than a fortnight after the veteran road racer was one of the guests of honour when the Tour de France visited Yorkshire.
Earlier this month, Brian was again a guest of honour at the Tour de Yorkshire and was pictured ahead of the race meeting local hero New Mill's Gabz Cullaigh.
Brian, who won his first Tour stage in 1958, was cycling with friends in Thornhill when the car pulled out in front of him, knocking him to the ground.
Today, law firm Leigh Day confirmed that Robinson had received a £15,000 settlement for the costs of his bike and his injuries.
Andrew Bradley, head of the cycling team at Leigh Day, said: "Cycling is Brian's life and we are extremely pleased to have played a role in getting him back on his bike.
"It has also been an honour to have helped a legend of the cycling world in his legal claim."
Brian, from Mirfield, said: "I would have preferred that it had not happened but I have been pleasantly surprised by how this incident has been handled through my British Cycling membership.
"I have had a great medical once-over and I am obviously pleased with the compensation which has enabled me to get back on my bike as quickly as possible."