The Rossoneri had initially demanded €10 million (£8.6m) for the 29-year-old attacker but the Brazilian side are unwilling to pay much more than half of that figure
The deal appeared dead after the Brazilian outfit initially baulked at the €10 million (£8.6m) transfer fee demanded by the Rossoneri for the Selecao star.
However, Marisa Ramos claims that the Italian giants are willing to lower the 27-year-old's price tag and continue negotiations.
"I told Milan of Santos's interest and heard Milan's conditions," the lawyer told Lancenet. "Milan are open to the possibility of negotiations and gave me two figures, one minimum and one maximum.
"I passed those on to Santos vice-president Odilio Rodrigues, who will evaluate them with other directors."
Robinho arrived at San Siro in 2010 from Manchester City after a loan spell at Santos, with his contract set to expire in June 2014.