That score came shortly after Paul Burke had given Munster the lead with a penalty as his side dominated the opening exchanges.
However Connacht's defence held firm and after Robinson had given them the lead they went further in front when Venter was driven over by his eager pack.
The only score of a hugely uninspiring second half came from the boot of Connacht out-half David Slemen who landed a late penalty.
Munster:m Lawlor; B Touhy; B Murphy, R Henderson, I Dowling; P Burke, F Murphy (M Prendergast); E McGovern (F Roche), D Fogarty, T Buckley; S O'Connor, R Hartigan; J O'Sullivan,. J O'Connor, S Keogh.
Connacht: D Riordan (K Finnane); T Robinson, J Hearty, G Williams, C O'Loughlin; D Slemen, T Tierney (P Phelan), R Loughney (R Davis), C Venter (J Merrigan), A Clarke; D Gannon, A Gallagher; T Richardson, P Rowe (M Lacey), S Miller.