Valentino Rossi led every lap on his way to a dominant victory in Sunday's Spanish Grand Prix, a race that saw no overtaking inside the top six after the opening five laps.

Addressing media after the race, Pedrosa – who took fourth place – hinted the lack of action could be traced to the fact the majority of the field struggled badly to manage the rear tyre.

He said it was down to tyre supplier Michelin and series rulemakers, and not individual manufacturers, to address the problems and create more spectacular racing.

"I didn't watch the race but I guess it was quite boring, no?" Pedrosa said. "The pace of the race, the race time, was quite slow [31 seconds slower than 2015].

"I think the championship and the tyre manufacturer need to come up with some ideas because I don't think that the problem comes from the bikes [themselves], from Ducati, Yamaha or Honda.

"The regulations are too restrictive – testing is too limited and the engines are sealed. They have to be more flexible, we need to get some improvements.

"The championship must do something because I don't think it's interesting like this."

Pedrosa also expressed frustration with Michelin changing its construction of rear tyre after Argentina, pointing out that such changes disrupt manufacturers' development programmes.

"We are working now to get better performance on this [new type of] tyre, but if one day [Michelin] changes it, all this work and all the investment by the manufacturer is for nothing," he said.

"If we build new parts, like [for example] a new swing-arm, and then they introduce a new tyre, we have to throw these upgrades away."

Additional reporting by Oriol Puigdemont