Allen, a cornerback, was a fifth-round pick from Purdue. Robertson, a defensive tackle, was a seventh-rounder from South Carolina.
The Falcons waived offensive guard Harland Gunn, who played in three games as a backup in 2013, and offensive tackle Terren Jones.
Some of the cuts are likely to be included when the Falcons can announce their 10-player practice squad on Sunday.
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