Sir Robin came third in the Rhum class as he crossed the finish line at Pointe a Pitre at 4.52pm local time/8.52pm GMT after 20 days, 7 hours, 52 minutes and 22 seconds at sea. He managed to hold off rival Wilfrid Clerton, who was 20 miles behind.
When he last sailed in the race 32 years ago he finished in 14th place in a time of 20 days, 20 hours, 20 minutes.
The first man to sail solo, non-stop round the world in 1968/9 said he was happy to finish the 3,542 mile race after the "intense" contest for the final podium place.
He sailed the 3,542 mile (Rhumb line) course at an average speed of 7.26 knots but in reality he actually did 4,416 miles at an average of 9.05 knots.
Sir Robin, who founded the Clipper Round the World Yacht Race, returned to his solo ocean-racing roots by entering his Open 60 yacht Grey Power into the Route du Rhum competition which started today in St Malo, France.
The veteran sportsman, who was the oldest participant, last competed in the 3,542-mile race from St Malo, France, to Guadeloupe in the Caribbean in 1982 in his 70ft catamaran Olympus.
And this is his first solo race since his Velux 5 Oceans circumnavigation in 2006-7, which he also sailed in Grey Power.
Lethal Collin scored at the beginning and end of the game to take his tally for the season to 16 to spark delirious scenes of celebration at the final whistle.
Stevenage recovered from conceding a goal after only 108 seconds to have the better of the second half and a goal from Darius Charles gave them hope of avoiding a giant-killing only for Collin to strike again three minutes from time.
Isthmian League Maidstone went ahead in the most basic of manners, a long clearance from goalkeeper Lee Worgan was headed on by Alex Flisher into the path of Jay May. Veteran Stevenage goalkeeper Chris Day could only parry May's soft shot but the rebound fell for Collin to lash home from 10 yards.
Worgan made excellent saves from Lee Barnard and Roarie Deacon in the first half as Stevenage fought desperately to get back into the match.
But they had to wait until the 47th minute before Charles volleyed in a centre from Charlie Lee and for long spells it looked as if Graham Westley's side, 60 places above seventh tier Maidstone in the league pyramid, would take control.
But with extra time looming, substitute Ben Greenhalgh got clear on the left and his perfect centre was headed in by Collin, with Stevenage appealing for offside.
Jules Bianchi is no longer in an artificial coma but remains unconscious and in a critical condition, his family have said.
The 25-year-old Frenchman, who drives for Banbury-based Marussia suffered serious brain damage in an horrific crash in wet conditions at the Japanese Grand Prix on October 5.
He underwent immediate surgery upon his arrival at the Mie General Medical Centre in Yokkaichi, but after weeks of little change in his condition, Bianchi's family issued an update on Wednesday.
The statement also said that, following the improvement in his condition, Bianchi has been flown from Japan to a hospital in Nice, France.
Bianchi was hurt when his Marussia collided with a recovery vehicle that was removing the Sauber of Adrian Sutil, who had spun off the track and into a tyre one lap previously. The crash occurred under double yellow waved flags, in poor weather and in fading light.
Following an investigation into the cause of the crash, FIA race director Charlie Whiting concluded there was ''a perfect storm'' of conditions.
Mark Molesley netted a late winner as Conference side Aldershot knocked 2008 winners Portsmouth out of the FA Cup with a 1-0 victory at the Recreation Ground.
Sky Bet League Two outfit Pompey, who also reached the FA Cup final in 2010, were the victims of a giant-killing as the home side's battling performance was rewarded when Molesley scrambled the ball home after 81 minutes.
In a frantic opening to the first-round replay, the visitors could have taken the lead inside the first minute, but Chris Barker was on hand to clear Jack Whatmough's header off the line.
And the best chance of the opening 45 minutes fell to Portsmouth midway through the first half when Ricky Holmes did well on the left to dig out a cross before Jed Wallace's acrobatic volley was parried to safety by home goalkeeper Phil Smith.
Aldershot top scorer Brett Williams almost broke the deadlock after 71 minutes when his low strike was turned around the post by Paul Jones before Manny Oyeleke flashed a shot wide moments later.
Aldershot pressed forward and Jones had to be alert again to deny Dan Holman from 25 yards with 10 minutes remaining.
But the hosts got their reward from the resulting corner as Molesley bundled the ball over the line after an almighty scramble in the six-yard box to delight the home fans.
Aldershot manager Andy Scott said "I'm very proud of the team. We had a big crowd, on television, and the players took it in their stride.
"We play Rochdale at home next. It's an opportunity to get in the third-round hat and that's what we've been looking for."
There's a claim tonight that the horse racing industry is turning a blind eye to serious problems affecting jockeys health. Industry insiders says more riders than ever are starving themselves and then vomiting in order to keep their weight down.
Driving to races with the heating at full blast and exercising in nylon sweat suits are just some of the methods used to lose the pounds. Penny Silvester reports.
Dr Anna Louise Mackinnon, medical advisor to the Professional Jockeys Association, talks to ITV Meridian over concerns that jockeys are damaging their health by over-eating and then making themselves vomit.
He died from a single punch. Promising footballer Connor Saunders died after a fight in Rottingdean, near Brighton, two years ago.
Today his family held an assembly at a local school telling pupils the lessons they've learned. The Connor Saunders Foundation hopes to provide a legacy for youngsters, teaching them to save lives rather than take them.
Andy Dickenson reports and speaks to Darran Saunders and Courtney Saunders-Jones.
The first man to sail solo, nonstop round the world in 1968/9 is currently in fourth place on his Open 60 Grey Power. He is just three miles from the third-placed yacht, having dropped down a place this morning after holding onto third for almost 36 hours.
Sir Robin is involved in a “stimulating” battle with three other yachts for the final podium in a week which has seen light winds, rain squalls and big wind shifts in the Azores high pressure system.
Sir Robin, who founded the Clipper Race at his base in Gosport, Hampshire, has 1,253 miles to go till the finish line. He set off from Saint-Malo, France, on 2 November on the 3,542 mile Transatlantic contest.
The fight for third is very exciting. It has been a frustrating week at times though. The North Atlantic depressions pushed the Azores high South after the big yachts had passed through.
This meant I had to go deeper South to avoid it, which means a greater distance to the finish. We have all been battling lighter than forecast winds, rain squalls and big shifts in the wind, but we are in the Tropics after all.