In a tough game at the Stadio Friuli, the Spaniard's first goal for the club - a brilliant curling effort from 25 yards out - proved the difference, as Paulo Fonseca's side picked up their first three points of the new season.
Pedro latched onto a misplaced pass in the Udinese half, taking the ball forward before perfectly placing his shot beyond Juan Musso.
In a tense game in Udine chances were created at both ends, with both goalkeepers often active - Antonio Mirante making a number of saves to deny the likes of Kevin Lasagna.
At the other end Edin Dzeko was guilty of missing one great first half opportunity - while in the second Henrikh Mkhitaryan saw his goal chalked off for a close offside call.
As the game wore on the Giallorossi seemed to gain better control of procedings and made it harder for Udinese to create clear sights of goal, seeing out the game in style.
With the international break now to contend with the team are back in action in two weeks - as they face Benevento on October 18.
UDINESE (3-5-2): Musso; Becao (Coulibaly), De Maio, Samir; Ter Avest (Molina), De Paul, Arslan (Forestieri), Pereyra (Nestorovski), Ouwejan; Lasagna, Okaka.
Unused subs: Nicolas, Gasparini, Prodl, Ballarini, Battistella, Micin, Palumbo, Zeegelaar
ROMA (3-4-2-1): Mirante; Mancini, Ibanez, Kumbulla; Santon, Veretout, Pellegrini (Cristante), Spinazzola; Pedro (Kluivert), Mkhitaryan (Perez); Dzeko (Villar)
Unused subs: Lopez, Olsen, Villar, Peres, Diawara, Antonucci, Calafiori
REFEREE: Abisso
SCORER(S): Pedro (55')
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