Yes, pipelines were removed without any alternatives. I came from Netty world and don't find pipelines "unintuitive" - they accumulate buffers and supply children actors with ready to use messages. 
Take a look at our solutions, it requires "org.scalaz" %% "scalaz-core" % 7.2.14 as a dependency.
Codec class is a State monad which is being called by the actor and produces output. In our projects we are using Varint32 protobuf encoding, so every message is prepended with varint32 length field:
import com.google.protobuf.CodedInputStream
import com.trueaccord.scalapb.{GeneratedMessage, GeneratedMessageCompanion, Message}
import com.zeptolab.tlc.front.codecs.Varint32ProtoCodec.ProtoMessage
import scalaz.{-\/, State, \/, \/-}
trait Accumulator
trait Codec[IN, OUT] {
  type Stream = State[Accumulator, Seq[IN]]
  def decode(buffer: Array[Byte]): Throwable \/ IN
  def encode(message: OUT): Array[Byte]
  def emptyAcc: Accumulator
  def decodeStream(data: Array[Byte]): Stream
}
object Varint32ProtoCodec {
  type ProtoMessage[T] = GeneratedMessage with Message[T]
  def apply[IN <: ProtoMessage[IN], OUT <: ProtoMessage[OUT]](protoType: GeneratedMessageCompanion[IN]) = new Varint32ProtoCodec[IN, OUT](protoType)
}
class Varint32ProtoCodec[IN <: ProtoMessage[IN], OUT <: ProtoMessage[OUT]](protoType: GeneratedMessageCompanion[IN]) extends Codec[IN, OUT] {
  import com.google.protobuf.CodedOutputStream
  private case class AccumulatorImpl(expected: Int = -1, buffer: Array[Byte] = Array.empty) extends Accumulator
  override def emptyAcc: Accumulator = AccumulatorImpl()
  override def decode(buffer: Array[Byte]): Throwable \/ IN = {
    \/.fromTryCatchNonFatal {
      val dataLength = CodedInputStream.newInstance(buffer).readRawVarint32()
      val bufferLength = buffer.length
      val dataBuffer = buffer.drop(bufferLength - dataLength)
      protoType.parseFrom(dataBuffer)
    }
  }
  override def encode(message: OUT): Array[Byte] = {
    val messageBuf = message.toByteArray
    val messageBufLength = messageBuf.length
    val prependLength = CodedOutputStream.computeUInt32SizeNoTag(messageBufLength)
    val prependLengthBuffer = new Array[Byte](prependLength)
    CodedOutputStream.newInstance(prependLengthBuffer).writeUInt32NoTag(messageBufLength)
    prependLengthBuffer ++ messageBuf
  }
  override def decodeStream(data: Array[Byte]): Stream = State {
    case acc: AccumulatorImpl =>
      if (data.isEmpty) {
        (acc, Seq.empty)
      } else {
        val accBuffer = acc.buffer ++ data
        val accExpected = readExpectedLength(accBuffer, acc)
        if (accBuffer.length >= accExpected) {
          val (frameBuffer, restBuffer) = accBuffer.splitAt(accExpected)
          val output = decode(frameBuffer) match {
            case \/-(proto) => Seq(proto)
            case -\/(_) => Seq.empty
          }
          val (newAcc, recOutput) = decodeStream(restBuffer).run(emptyAcc)
          (newAcc, output ++ recOutput)
        } else (AccumulatorImpl(accExpected, accBuffer), Seq.empty)
      }
    case _ => (emptyAcc, Seq.empty)
  }
  private def readExpectedLength(data: Array[Byte], acc: AccumulatorImpl) = {
    if (acc.expected == -1 && data.length >= 1) {
      \/.fromTryCatchNonFatal {
        val is = CodedInputStream.newInstance(data)
        val dataLength = is.readRawVarint32()
        val tagLength = is.getTotalBytesRead
        dataLength + tagLength
      }.getOrElse(acc.expected)
    } else acc.expected
  }
}
And the Actor is:
import akka.actor.{Actor, ActorRef, Props}
import akka.event.Logging
import akka.util.ByteString
import com.zeptolab.tlc.front.codecs.{Accumulator, Varint32ProtoCodec}
import com.zeptolab.tlc.proto.protocol.{Downstream, Upstream}
object FrameCodec {
  def props() = Props[FrameCodec]
}
class FrameCodec extends Actor {
  import akka.io.Tcp._
  private val logger       = Logging(context.system, this)
  private val codec        = Varint32ProtoCodec[Upstream, Downstream](Upstream)
  private val sessionActor = context.actorOf(Session.props())
  def receive = {
    case r: Received =>
      context become stream(sender(), codec.emptyAcc)
      self ! r
    case PeerClosed => peerClosed()
  }
  private def stream(ioActor: ActorRef, acc: Accumulator): Receive = {
    case Received(data) =>
      val (next, output) = codec.decodeStream(data.toArray).run(acc)
      output.foreach { up =>
        sessionActor ! up
      }
      context become stream(ioActor, next)
    case d: Downstream =>
      val buffer = codec.encode(d)
      ioActor ! Write(ByteString(buffer))
    case PeerClosed => peerClosed()
  }
  private def peerClosed() = {
    logger.info("Connection closed")
    context stop self
  }
}