In his speech, Robertson said the Government was already trying to take some pressure off through measures such as the fuel tax, tourism levy and the use of new targeted rates in the Land Transport statement.
Earlier, Auckland Mayor Phil Goff had told Q+A that the rating system was "antiquated" and needed changing.
"I don't think it's great that local government has to go cap in hand to the Government on a case-by-case basis for funding. We are elected at a local level. We are accountable at a local level."
He still believed that councils should at least receive the GST from rates, but the Government was not enthusiastic about that.
Robertson said the review of local government funding was part of the Labour Government's agreement with NZ First.
It would investigate options for new funding and financing tools, regulatory changes, the reasons for increasing costs, the ways decisions on capital investment were made, the affordability of rates, and whether regulatory changes were needed.
Robertson said it would also look at what central government could do by way of cutting red tape to take pressure off local councils.
He said the pressures faced by local councils varied significantly, whether it was the need for infrastructure for growing populations or tourism in regions with smaller populations.
Many councils faced ageing infrastructure and climate change effects were also increasingly an issue.
"We don't want the ratepayers to be the only people carrying that burden."
David Cull, the president of Local Government NZ, said the inquiry was welcome after LGNZ had called for the issue to be looked into.
"Our regions, cities and districts shouldn't be entirely dependent on central government to resolve the complex issues we are now facing. It is essential that we empower local authorities with access to funding and financing tools to make a difference."
LGNZ research had showed that high reliance on rates to fund local services and infrastructure did not allow councils to invest in long-term growth projects, such as infrastructure to contend with extreme weather and earthquakes.