The former Led Zeppelin frontman is ''fed up'' with his ex-bandmate, who he claimed would rather make music with his new group The Sensational Space Shifters than with the legendary rock outfit, and believes he should focus on his own music career.
Robert said: ''He should get on and do something - he's a superb talent. That's the sad thing for Jimmy, he knows that I'm his guy, I'm his pal, but the warmth he needs to actually enjoy the world, it's all there. Come on and give it to us.''
The rocker also thinks Jimmy would benefit from doing something completely original, rather than hanging on to the former glories of their days in Led Zeppelin.
He explained: ''Why do it the way you always did it? Why think like that? You never think it could possibly work. And yet you can take off all your trappings of 30 years of playing and step into this other world. You f**k them out of the way and have a good time.''
Meanwhile, Robert, 66, believes he's one of the few stars of his generation who remain fearless performers.
He explained to the Daily Telegraph newspaper: ''I know there are only three or four frontmen left, from our time, who actually just kick the mic stand up and do it, and that's me, Rod Stewart and Mick Jagger.
''But the only important thing is, can you contemporise your gift? Can I knock myself out, or am I just going through the motions? Because if I'm going through the motions, I'm f****d.''
The actor says he isn't "holding out for more money or doing anything like that".
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