The poll of 2,000 people was commissioned ahead of Sky Atlantic's new drama Westworld, which looks at humanoid robots living alongside humans.
It found 58 per cent were worried about the effect robots would have on society, while 49 per cent believed a robot would take their job.
Four in ten thought robots would end up destroying humanity completely.
Mal Fletcher is a social futurist and Christian. When asked on Premier's News Hour whether a robot could lead a church service or hear confession, Mr Fletcher said: "I can imagine a robot doing both.
"The US Navy right now is talking about the question of whether robots can be taught to think morally and ethically.
"Machines are able to crunch so much information in such a short space of time, and as they scan all of that they're learning to improve their own programming, which means in a sense they are learning.
"I, as a Christian though, am doubtful that they can be taught conscience. The mechanics of leading a church service, the mechanics of hearing a confession, that wouldn't be difficult.
"Whether or not the spiritual component is there... I'm not sure it would be."
Listen to Premier's Alex Williams speaking to Mal Fletcher on the News Hour:
