The spot kick was missed by David Alaba, but Robben believes the incident was the turning point in the game as Bayern went on to seal a first-leg advantage.
"The red card was a turning point in the game," Robben was quoted as saying by AZ. "Toni set me up with a superb pass, I beat the goalkeeper to the ball, control it and then he runs into me. He hits my ankle and I go down.
"It was a clear penalty, although the red card was perhaps debatable. I never saw the ball again after he hit me."
Robben went on to acknowledge that Bayern was struggling in the opening stages of the game as Arsenal dominated play at the Emirates and spurned a great chance to take the lead through Mesut Ozil's missed penalty.
"Arsenal were much better than us early on and overran us in the opening 15 minutes, Fortunately, Manuel [Neuer] saved their penalty. We improved after that," he said. "We are not there yet, though. We have a lot of respect for Arsenal. They are a great team. They showed us in the opening 15 minutes what they can do."