Robson, also a songwriter who has worked with Britney Spears and Justin Timberlake, was a frequent guest at the Neverland Ranch while aged between seven and 14.
The choreographer even testified favourably during King of Pop's 2005 molestation case but he has now filed a case against the late singer alleging abuse.
Jackson, who died in 2009, was found not guilty at the 2005 molestation trial.
Reacting to Robson's charges, Jackson's estate claimd that Robson's turnaround is a lie.
"Now, nearly four years after Michael has passed this sad and less than credible claim has been made. We are confident that the court will see this for what it is. Robson's claim is outrageous and pathetic," Weitzman said.