Joseph of Cordoba and his young friend Esther escaped from a pogrom of the Jewish community in York (described as "riots") instigated by a deserter of King Richard I's army named Malbete. He knew that the Jews had raised 1000 pounds to pay the captain of a ship who is bringing more Jewish refugees from Europe via the seaside town of Grimsby. Malbete started the pogrom to steal the money, but Joseph and Esther smuggled it out, and asked Robin Hood to help them bring it to the arriving ship at Grimsby. Meanwhile, Malbete enlists help from the Sheriff of Nottingham, Robin Hood's enemy.
Antisemitism is seen during the episode as well, when Malbete rages against Jews in a tavern (also referring to the Crusades) and later when he promises his men that the Jews arriving from the boat will not be a problem: "Those scum don't fight."
Obviously, they do.
Interestingly, the legend of Robin Hood occurs right in the timeframe of the destruction of York's Jewish community in 1190. The Jews were expelled from England altogether in 1290. So the episode did not take as many liberties with history as one could have imagined.
The TV show was produced by Hannah Weinstein, a Jewish left-wing political actress-turned producer who moved to England to avoid being blacklisted by McCarthyism. Many episodes of the series were secretly written by Americans who had been blacklisted, under assumed names. (The writer of this episode was "Clare Thorne," almost certainly a pseudonym.)