The 19-year-old, who has spent the last five years in England, has signed a three-year contract with the Bundesliga club, where he is expected to push for a place in the first team.
"Robbie is extremely quick as well as both technically and tactically well-educated," said Nurnberg's director of sport Martin Bader on his club's website.
"He wants to make the grade in the Bundesliga and the fact he has chosen to join us shows that young players see good prospects at Nurnberg."
"Of course I know about Nurnberg - they have always been a big club for us Slovakians thanks to Marek Mintal and Robert Vittek," said the Slovakia Under-21 international. "Marek advised me to move to Nurnberg and I am looking forward to it."