Robinson's supporters broke into applause as Lord Burnett announced the decision, prompting the judge to order "silence".
Tommy Robinson is still convicted of contempt in relation to his behaviour at Canterbury past year where he received his three month sentence for potentially derailing a fair trial.
Robinson, 35, whose real name is Stephen Yaxley-Lennon, is the founder of the now-defunct English Defence League.
Speaking to reporters, Robinson said: "All the British media do is lie". The Court of Appeal had ripped off that tape and now Robinson, and his supporters, would be free to "speak the truth" about Britain.
'I am not sure you appreciate the potential effect of what you have done.
British former far-right leader Tommy Robinson was freed from prison on Wednesday after winning a legal challenge in a case that has galvanized his supporters worldwide.
At an event last month, funded in part by United States thinktank Middle East Forum and organised by former Breitbart UK editor Raheem Kassam, leading far-right politicians from Europe voiced their support for Robinson and attacked Islam.
"We will direct that the matter be reheard before a different judge". There is no requirement that it be heard in Leeds...
No date has been set for the new hearing at the Old Bailey.
He ordered that Robinson's bail have the condition that he does not approach within 400 metres of Leeds Crown Court.
The self-styled journalist live-streamed footage from outside the courthouse on Facebook, and the video was watched some 250,000 times.
He received a further three months for breaching the terms of an earlier suspended sentence.
He has been held at Onley jail near Rugby after receiving a 13-month sentence for breaches of reporting restrictions at Leeds and Canterbury crown courts.
The judge on that occasion gave him a three-month suspended sentence and told him his punishment was not about "freedom of speech or freedom of the press" but about "justice and ensuring that a trial can be carried out justly and fairly".
The judge at Leeds should not have commenced contempt proceedings that day.
Lord Burnett said "no particulars of the contempt were formulated or put to the appellant", and there was "a muddle over the nature of the contempt being considered".
The far-right activist (real name Stephen Yaxley-Lennon) was at Canterbury Crown Court on 8 May previous year during the trial of four men for rape.