The second fight of the UFC 161 preliminary card on FX was a welterweight bout as Sean Pierson was able to do enough in the first two rounds to score a majority decision win over Kenny Robertson. 
The action opened with Robertson looking for a takedown but the attempt was unsuccessful. After a brief striking exchange, Robertson was able to get the fight to the ground and got the back of Pierson.
Robertson locked in the body triangle and landed strikes from the position. Pierson was able to escape the hold and got back to his feet. The fighters grappled against the fence before Pierson broke away.
After a striking exchange, Robertson looked to take the fight to the ground but Pierson ended up having control on the ground. Robertson would get back to his feet and Pierson landed a combination in the final 15 seconds of the round that appeared to stun Robertson.
In the second round, the fighters stood with each other and Pierson landed a combination that included a head kick. Robertson was able to land several jabs but cardio appeared to becoming an issue. After eating a kick and punch, Robertson went for a takedown.
As Robertson went for a takedown, Pierson looked for a d’arce choke. The submission attempt was unsuccessful and Robertson gained top position on the ground. The round would end in this position with neither fighter mounting much offense.
Robertson landed an elbow in the first minute of the final round and Pierson was backing away and looking to recover from the elbow. Robertson swarmed him with punches before taking the fight to the ground. Robertson went for a d’arce choke and then transitioned to the back when he could not get the submission.
While having the back of Pierson, Robertson threw strikes as he locked his legs around the body of Pierson. After being unable to get a choke and struggling at landing strike, Robertson passed to another position and looked for an arm triangle choke. The submission attempt was unsuccessful and Pierson ended the fight in top position.
Two of the three judges scored the fight for Pierson with the third judge scoring the fight a draw. Pierson (14-6) has now won three straight fights with all of those victories coming by decision. Robertson (12-3) has now lost two of his last three fights since returning to the UFC with both losses coming by decision.
UFC 161 Results:
Sean Pierson def. Kenny Robertson def. majority decision (29-28, 29-28, 28-28)
Roland Delorme def. Edwin Figueroa via unanimous decision (29-28, 29-28, 29-28)
Mitch Clarke def. John Maguire via unanimous decision (29-28, 29-28, 29-28)
Yves Jabouin def. Dustin Pague via split decision (29-28, 28-29, 29-28)