England's win clinched the Six Nations title but also thwarted Ireland's Grand Slam ambitions and left Rob Hunter's side regretting their narrow defeat in France last weekend.
The result was never really in doubt after Anthony Watson's try in the first minute but England will wonder how they only scored 20 points as they lost their precision in the second half.
Robson was excellent for the hour that he was on the pitch, providing slick service and scampering clear for an excellent first half try.
Britton put in a muscular effort up front and his lineout throwing was excellent throughout while Mills made several quality breaks and provided his usual slick distribution and robust defence.
15-6 up at half time, Yarde's early second half try effectively killed it as a contest and, although Ireland enjoyed more possession after the break, they never really looked like breaking England down.