Jorge Lorenzo led from start to finish to claim victory in the final race of the MotoGP season in Valencia on Sunday.

The Spaniard, in his final race for Yamaha before joining up with Ducati next season, took off from pole to beat reigning world champion Marc Marquez (Honda) into second place.

Italian pair Andrea Iannone and Valentino Rossi battled it out for the final podium place, with Iannone nipping through to hold off his rival as they crossed the line.

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In his final race for Suzuki, Maverick Vinales took fifth place just ahead of Yamaha's Pol Espargaro, who beat Andrea Dovizioso to sixth in a photo finish.

Briton Cal Crutchlow secured the top independent title, despite crashing out, while compatriot Bradley Smith finished ninth as he continues his rehabilitation following knee surgery.

Lorenzo won his final race for Yamaha (Getty)

Results

1. Jorge Lorenzo (ESP/Yamaha) 45.54.228

2. Marc Marquez (ESP/Honda) at 1.185

3. Andrea Iannone (ITA/Ducati) 6.603

4. Valentino Rossi (ITA/Yamaha) 7.668

5. Maverick Vinales (ESP/Suzuki) 10.610

6. Pol Espargaro (ESP/Yamaha Tech3) 18.378

7. Andrea Dovizioso (ITA/Ducati) 18.417

8. Aleix Espargaro (ESP/Suzuki) 18.678

9. Bradley Smith (GBR/Yamaha Tech3) 25.993

10. Alvaro Bautista (ESP/Aprilia) 35.065

11. Hector Barbera (ESP/Ducati Avintia) 36.425

12. Danilo Petrucci (ITA/Ducati Pramac) 42.415