Goldman, Sachs was the lead bookrunning manager of the offering and Citigroup and Jefferies were joint bookrunning managers. Allen & Co. and Oppenheimer served as co-managers.
Venture capital investors in Yelp include Bessemer Venture Partners, Elevation Partners, Benchmark Capital and Duff Ackerman & Goodrich.
Here's a link to Yelp's final prospectus filed with the SEC: http://www.sec.gov/Archives/edgar/data/1345016/000119312512093131/d245328d424b4.htm