David Robertson and Joba Chamberlain won’t be headed to arbitration with the Yankees.

Both relievers agreed to one-year contracts on Tuesday, avoiding arbitration. Robertson is expected to receive $1.6 million plus incentives and Chamberlain $1.67 million.

A day earlier, Phil Hughes avoided arbitration with the club by agreeing to a one-year deal worth $3.2 million.

Robertson emerged as the Yankees’ most consistent reliever last season, finishing 4-0 with a 1.08 ERA in 70 appearances. The right-handed setup man led AL relievers in ERA.

Chamberlain’s season ended in June with Tommy John surgery. In 27 appearances for the team last season he went 2-0 with a 2.83 ERA. The Yankees are hopeful he will return before the All-Star break in 2012.