Underground utility services play an essential role in sustaining urban life. The majority of these utility services are delivered through pipeline networks, which are mostly buried underground and are interconnected through other urban systems to distribute or collect basic sustainable needs such as treated water, waste water, gas, communication, and power. Deterioration of underground infrastructure systems occurs due to ineffective maintenance management practices. Because new installation can be very costly and disruptive, the best course of action is to maintain the present infrastructure in a more effective way to maximize life span and prevent catastrophic failures. The accurate evaluation of current underground infrastructure must be done before any crucial decisions including lifecycle, rehabilitation and replacement intervals, and appropriate remedial methods can be made. Unfortunately, traditional technologies and management approaches have been limited by the use of insufficient data in the evaluation of the structural integrity of an aged infrastructure. This paper describes the testing, development, and application of a novel assessment technology, which combines in-pipe Ground Penetrating Radar (GPR) with Digital Scanning and Evaluation Technology (DSET) robotics to collect accurate information about the condition of the inside wall of concrete sewer pipes. A case study applying this innovative technology to sections of large diameter PVC-lined concrete pipe in the City of Phoenix is presented. The study and adoption of innovative pipeline assessment methods provide better information to improve the decision-making process, thereby making economical decisions to optimize resources in more efficient ways.