Photos on the OpenWRT website http://wiki.openwrt.org/toh/mikrotik/rb951g_2hnd show 4 solder pads labelled TX, RX, Gnd and 3V3 on the RB951G 2HnD PCB.
If you don’t care about voiding your warranty, do these pads give you access to a working serial port?
RS232 at 3.3V TTL levels I assume.