Mobility management is an essential process in mobile networks to ensure a high quality of service (QoS) for mobile user equipment (UE) during their movements. In fifth generation (5G) and beyond (B5G) mobile networks, mobility management becomes more critical due to several key factors, such as the use of Millimeter Wave (mmWave) and Terahertz, a higher number of deployed small cells, massive growth of connected devices, the requirements of a higher data rate, and the necessities for ultra-low latency with high reliability. Therefore, providing robust mobility techniques that enable seamless connections through the UE’s mobility has become critical and challenging. One of the crucial handover (HO) techniques is known as mobility robustness optimization (MRO), which mainly aims to adjust HO control parameters (HCPs) (time-to-trigger (TTT) and handover margin (HOM)). Although this function has been introduced in 4G and developed further in 5G, it must be more efficient with future mobile networks due to several key challenges, as previously illustrated. This paper proposes a Robust Handover Optimization Technique with a Fuzzy Logic Controller (RHOT-FLC). The proposed technique aims to automatically configure HCPs by exploiting the information on Reference Signal Received Power (RSRP), Reference Signal Received Quality (RSRQ), and UE velocity as input parameters for the proposed technique. The technique is validated through various mobility scenarios in B5G networks. Additionally, it is evaluated using a number of major HO performance metrics, such as HO probability (HOP), HO failure (HOF), HO ping-pong (HOPP), HO latency (HOL), and HO interruption time (HIT). The obtained results have also been compared with other competitive algorithms from the literature. The results show that RHOT-FLC has achieved considerably better performance than other techniques. Furthermore, the RHOT-FLC technique obtains up to 95% HOP reduction, 95.8% in HOF, 97% in HOPP, 94.7% in HOL, and 95% in HIT compared to the competitive algorithms. Overall, RHOT-FLC obtained a substantial improvement of up to 95.5% using the considered HO performance metrics.