Anti-Muslim activist Tommy Robinson has been accused of intimidation after he turned up at the door of a historian who helped fund a legal case against him.

Robinson, real name Stephen Yaxley-Lennon, turned up on Monday evening at the Luton home of Mike Stuchbery, a historian and columnist for The Independent.

Footage shot by Robinson shows him banging on the front door and windows of Mr Stuchbery’s house, and threatening to make a documentary “exposing” the campaigner.

“At the same time, messages came flooding in via social media. Despite being banned by Facebook, he was using a mate’s account to stream – and the abuse came flooding in,” Mr Stuchbery tweeted, alongside screen grabs of abusive messages.

After police were called, officers convinced Robinson to leave, Mr Stuchbery said, but he returned again at 5am on Tuesday morning.

Tommy Robinson supporters protest outside the Old Bailey Show all 16 1 /16 Tommy Robinson supporters protest outside the Old Bailey Tommy Robinson supporters protest outside the Old Bailey A Tommy Robinson supporter in London after former English Defence League (EDL) leader Tommy Robinson left the Old Bailey where his contempt of court case was adjourned PA Tommy Robinson supporters protest outside the Old Bailey A Tommy Robinson supporter outside the Old Bailey in London where the former English Defence League (EDL) leader is accused of contempt of court PA Tommy Robinson supporters protest outside the Old Bailey Tommy Robinson supporters outside the Old Bailey in London before former English Defence League (EDL) leader Tommy Robinson arrives accused of contempt of court PA Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right figurehead Tommy Robinson demonstrate outside the Old Bailey Getty Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right figurehead Tommy Robinson demonstrate outside the Old Bailey Getty Tommy Robinson supporters protest outside the Old Bailey Supporters of former English Defence League (EDL) leader Tommy Robinson protest at the Old Bailey Courthouse EPA Tommy Robinson supporters protest outside the Old Bailey Supporters of former English Defence League leader Stephen Yaxley-Lennon, or 'Tommy Robinson', who was jailed for contempt of court in May and later released, wait for him to arrive at the Old Bailey to attend a court hearing Reuters Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right figurehead Tommy Robinson demonstrate outside the Old Bailey Getty Tommy Robinson supporters protest outside the Old Bailey Tommy Robinson arrives for his hearing at the Old Bailey Reuters Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right figurehead Tommy Robinson demonstrate outside the Old Bailey Getty Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right spokeseman Stephen Christopher Yaxley-Lennon, AKA Tommy Robinson, the former leader of the right-wing EDL (English Defence League) wave flags as they demonstrate outsise The Old Bailey AFP/Getty Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right figurehead Tommy Robinson demonstrate outside the Old Bailey EPA Tommy Robinson supporters protest outside the Old Bailey epa07050344 Supporters of former English Defence League (EDL) leader Tommy Robinson protest at the Old Bailey Courthouse in London, Britain, 27 September 2018. The far right figurehead whose real name is Stephen Yaxley-Lennon faces a rehearing after winning an appeal against a contempt of court finding last month. EPA/NEIL HALL NEIL HALL EPA Tommy Robinson supporters protest outside the Old Bailey Robinson gestures to supporters from inside the Old Bailey AFP/Getty Tommy Robinson supporters protest outside the Old Bailey Supporters of far-right spokeseman Stephen Christopher Yaxley-Lennon, AKA Tommy Robinson, the former leader of the right-wing EDL (English Defence League) demonstrate outside The Old Bailey, London's Central Criminal Court, in central London on September 27, 2018. (Photo by Daniel LEAL-OLIVAS / AFP)DANIEL LEAL-OLIVAS/AFP/Getty Images DANIEL LEAL-OLIVAS AFP/Getty Tommy Robinson supporters protest outside the Old Bailey epa07050343 Supporters of former English Defence League (EDL) leader Tommy Robinson protest at the Old Bailey Courthouse in London, Britain, 27 September 2018. The far right figurehead whose real name is Stephen Yaxley-Lennon faces a rehearing after winning an appeal against a contempt of court finding last month. EPA/NEIL HALL NEIL HALL EPA

It came a day after lawyers representing a Syrian boy who was attacked at school attempted to serve Robinson a legal letter in an effort to sue him for defamation.

Mr Stuchbery helped crowdfund total donations of more than £10,000 for legal action against Robinson after he created a series of videos and Facebook posts about the incident in October.

“I’ve spent the last few months documenting how ‘Tommy Robinson’ uses doorstepping to intimidate his critics, and how social media giants have enabled it,” Mr Stuchbery tweeted.

“So what does he do? Turns up at my house tonight.”

Robinson said his doorstepping of Mr Stuchbery was retaliation for what he said was a “campaign of hate” against him and his family by “far-left activists”, who he accused of intimidation against his family.

He told The Independent a group of men attempted to deliver the letter on Sunday afternoon to an address belonging not to him but his in-laws, who he said had been targeted for months by critics.

“They didn’t just come to my house, they videoed the name of the road, they gave the number and they revealed the location,” he claimed, adding it was “a campaign of harassment”.

Tommy Robinson rants about 'corrupt media' amid calls for YouTube to ban him

Robinson’s footage, which has already been viewed thousands of times on YouTube, shows the 36-year-old calling Mr Stuchbery a “wrong-un” and a “weirdo”, and making his Luton address public.

“By the end of this week, everyone on this entire estate is going to know your name,” Robinson says, before adding, “The whole of Luton is going to know there’s a complete wrong-un living in that house”.

Robinson is Ukip’s official adviser on grooming gangs. His criminal record includes convictions for violence, drug possession, public order offences, mortgage fraud and entering the US under a false passport.

Bedfordshire Police said: ”We were made aware of the handing over of legal papers on Sunday and attended the address to ensure no breach of the peace occurred.