This work discusses the development of a novel transient electromagnetic pulsed eddy current sensor that provides the ability to measure the remaining wall thickness of carbon steel and cast iron pipe through the cement liner. The differential pulsed eddy current peak amplitude and the decay rate of the pulsed eddy current response have been correlated to pipe wall thickness. The system is designed to be mounted on a robotic inline crawler and acquire data dynamically as the sensors scan the inner diameter. This new technology will provide the nuclear industry with an inline inspection (ILI) solution for the assessment of cement lined piping.