@tanguatlay,
A good rule of thumb is that a sentence makes sense on its own. Hightor does have a point about style, but in the absence of rhetoric and other devices it's best to look at it as a stand alone sentence.
Boxing no doubt offered Bruce Lee a challenge.
This makes sense on its own. If you read it out of context you still know what's going on.
Boxing no doubt offered Bruce Lee a challenge, as it did to Gary Elms.
This also makes sense on its own.
As it did to Gary Elms.
This makes no sense on its own, it's completely dependent on what precedes it.
Therefore,
Boxing no doubt offered Bruce Lee a challenge, as it did to Gary Elms. is correct.