Paul Robinette is an Assistant District Attorney on Law & Order from the pilot episode in 1990 until the final episode of the third season, "Benevolence", in 1993. He later returned as a defense attorney who specialized in using racism as a defense for his clients, and then develops a subspecialty defending cops.
In 2017, Robinette traveled to Chicago to defend CPD Officer Kevin Atwater at the request of Sergeant Hank Voight, where he went up against Benjamin Stone's son, Assistant State's Attorney Peter Stone. ("Uncertainty Principle")