The 37-year-old singer reportedly caused outrage amongst fans with kids when he swore his way through his solo section of the show at Wembley Stadium on Tuesday night, before pretending to role a joint and sticking his fingers up at the audience.
According to The Mirror, he told the crowd, 'I'd like to get fake tan on my hands and touch a few breasts.
'I want to make you all horny and menstrual.'
One fan, Julie Smith, from London, said, 'I had to put my hands over my daughter's ears. It was disgusting.
'He spoilt it for the rest of the band, who are true professionals, with all the attention-seeking and histrionics.
'It got to the point where we left during his segment and came back again when he was off.'
Another dad added, 'You shouldn't have to hear the f-word so many times in front of your kids. I've been to other Take That shows and this was something else.'
Robbie's spokesman declined to comment.