The 24-year-old compiled breaks of 71, 101 and 114 to prevail 9-5 against the world number two in Bendigo, Victoria.
It was the world number six's first ranking title since winning the 2012 International Championship in China.
Trump, who extended a 5-3 first-session lead to 8-3, said he was still "nervous" of a Robertson comeback.
He told WorldSnooker.com: "I knew he was capable of winning six frames in a row - he did that against me at the World Championship. He started to go for his shots and they were going in.
"The difference today was that I was nicking the tight frames. I was happy to be 5-3 ahead at the end of the first session, then I won an important first frame in the evening session."
Robertson, who felt beforehand that Trump would have an advantage "because he has had five or six hours more rest", said both players were below par but that Trump capitalised on his chances.
He added: "This week I had a pretty comfortable path to the final, but Judd definitely played the best snooker and he was just too good for me today. Let's hope next year can be third time lucky for me."
Robertson also tweeted: "Gave it everything but not my day today guys. Proud to reach my home final, just nothing left in the tank to produce the win."
The 32-year-old Australian was playing in his second consecutive ranking event final after winning China's Wuxi Classic last week, and victory would have seen him draw level with Ding Junhui in joint-sixth place on the all-time list of ranking event winners.
For left-hander Trump, victory avenged his 13-11 quarter-final loss to Robertson at this year's World Championship.
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