Angiomyxomas are benign, slow-growing mesenchymal tumors. Intraoral angiomyxoma are extremely rare with very few reported cases in the existing literature. The primary line of management is surgical resection with a long-term follow-up, due to their tendency to recur. Here, we report a rare case of angiomyxoma of the upper alveolus eroding the hard palate and extending into the maxillary antrum, in a middle-aged male. Transoral robotic surgery (TORS) was performed due to the nature of the tumor (bulky benign lesion with bony erosion), inaccessibility and poor visualization of the superior extent of the tumor. The three-dimensional endoscopic camera and flexible robotic arms allowed easy dissection around the tumor margins and en bloc resection of the tumor. The patient had a smooth recovery with the best possible functional outcome. This is the first case of robot-assisted excision of a large benign oral tumor with superior extension through erosion of the palate and can be included as an extended indication of TORS.