Oxford manager Robinson described this FA Cup fourth-round replay as "a free hit" but he and his players will still be bitterly disappointed to come so close to penalties only to be thwarted by a moment of brilliance from Saint-Maximin.
Were Newcastle lucky? I don't think so. But obviously we made hard work of it ... more so at St James' Park than at Oxford.
But full marks to the underdogs. They came out fighting.
The Yellows have had some fine moments at Kassam Stadium this season, notably when West Ham United were thrashed 4-0 in the Carabao Cup and Manchester City were pushed all the way before winning 3-1 here in the quarter-final.
It looked for a while as if Oxford would slip away without giving Newcastle serious anxiety but how they battled and how their fans responded as they started extra time looking the more confident side after that tumultuous finale.
It was not to be but Oxford can take real pride from the resilience they showed here and now they can turn their attention back to their top priority, namely promotion to the Championship.
Manager Robinson is struggling for numbers after the departure of Shandon Baptiste and Tariqe Fosu to Brentford on transfer deadline day but there is real talent within his squad and this is a developing side.
Oxford are currently eighth in League One, three points off the play-off places, and now it is back to business on that front as they travel to Peterborough United, who are third in the table, on Saturday.
"I thought we outplayed them," said Robinson.
"I don't know what the stats are but we created good chances, even in the first half.
"Their first goal is a worldie and the third is an outstanding finish. It is all ifs and buts unfortunately but I am really proud of my players."