The opposition protest, organised by Labour supporters and anti-fascists, marched from Portland Place to Whitehall.
However, Batten says, "The object of the march is to galvanise people behind UKIP".
Shadow chancellor John McDonnell had urged Labour supporters to march against the "poison" of Mr Robinson, whose real name is Stephen Yaxley-Lennon.
"Today is a huge blow for Tommy Robinson and his vile, hate-fuelled politics".
Thousands of counter-protestors also turned up, including Labour grassroots group Momentum and Unite Against Fascism.
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Thousands of people marched in the pro-Brexit rally organised by Ukip at the same time as a rival opposition demonstration took place.
Mr McDonnell said: "This march isn't about Brexit, it's about far-right extremists dressing up in suits and pretending to be respectable".
UKIP under current leader Gerard Batten has been strong supporters of Mr Robinson, appointing him as an adviser on grooming gangs and speaking out in support of him during a recent court case.
Along the route, they held placards saying, "Oppose Tommy Robinson".
Mr Robinson's supporters gathered to call for Brexit, with one brandishing a noose he said was for Prime Minister Theresa May.
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Ukip supporters started their procession at the Dorchester Hotel and followed a specified route to the Houses of Parliament.
"He only represents fascists and racists, and we will march against fascists and racists just like those before us did".
"Nazi scum, off our streets", many added.
In a letter, Mr Coburn said UKIP had been "infiltrated by people with an alternative agenda". "That's what treasonous people get", insisted the protestor carrying it in the Ukip march.
Marchers with their faces covered briefly made their way to the front of the march, and at a few points a handful of Robinson supporters were escorted away swiftly by police.
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'This is a cynical attempt by some of the most extreme voices in Britain, united in hatred for Muslims and other minorities, to exploit Brexit tensions and sow discord and hatred, much as Gerard Batten has done with Ukip and its Islamophobic charge to the right since he took over, ' he said.