The BBC received 267 complaints about last weekend's routine with professional dance partner Ola Jordan and viewers also wrote on the BBC's online messageboards.
Former footballer Robbie wrote on Twitter: "Seems I upset 267 people out of 11.5 million on Saturday night with MJ moves! Just seems some people have it in for me, nothing new there then!"
He added: "So some people thought it was inappropriate to do a Michael Jackson move at 7pm on a Saturday night to one of his songs! Why?
"Seriously what is the world coming to when on an entertainment show people complain about a famous Michael Jackson move which my five-year-old loves doing!"
One viewer wrote online: "Remember Strictly Come Dancing being recommended as 'good family viewing' when it started.
"It's got to the stage now, however, where it's probably embarrassing for adults and kids alike if they're watching it together. It's not just the overtly sexual thrusting, but the simulated nudity of some of the females."
But an approving viewer said: "It was obviously a nod to Jackson's dancing - I thought the end was funny, not offensive - but then I wasn't looking to be offended just entertained, which I was."
The BBC said: "Robbie danced a paso doble to Michael Jackson's Bad on Saturday's show and the choreography emulated some of Michael (Jackson's) most famous dance moves.
"Strictly is a live entertainment show and, with it being the Halloween Special, Robbie wanted to pull out all the stops. We would like to assure viewers no offence was intended."