Please note that this poll did not compare the icons of the two iOS versions -- which is where a majority of the design criticism has derived from.
The poll compared various interface elements such as the default buttons, progress indicators, Notification center, keyboards, navigation bars, alerts and much more.
Overall, the poll found that iOS 7 received 72% preference while iOS 6 received 28% when it came down to the various elements of the UI.
Polar also conducted an iOS icon comparison where many of the iOS 7 icons were preferred over iOS 6. Settings, Camera, Game Center, Safari, and Siri icons were the only iOS 6 icons people preferred compared to iOS 7.
[Interface Element Poll] [Icon Poll] via 9to5mac