The short answer, explained
Once you register late, HMRC doesn't simply start your VAT obligations from today. It sets your effective date of registration back to when you should have registered under the rules.
That means VAT is treated as due on all your taxable sales from that backdated date, whether or not you charged it to customers at the time. You'll also usually be entitled to reclaim input tax on business costs incurred from the same date.
On top of the tax itself, HMRC can charge a failure to notify penalty, calculated as a percentage of the VAT that went unpaid because registration was late.

