Jorge Lorenzo was relieved a "crazy" move at the Italian Grand Prix paid off as he took a stunning victory at Mugello on Sunday.

Lorenzo pipped Marc Marquez at the line to seal victory by just 0.019 seconds and extend his championship lead.

World champion Lorenzo was in no mood to merely accept championship points, drawing experience from junior classifications to pull off a thrilling last-gasp pass.

"The pace wasn't very fast so I couldn't escape like I wanted," said Lorenzo.

"Marquez stayed strong all the race and I used a lot of energy to go at the front in the race. I thought Marquez would have more energy at the end when he passed me. 

"I thought [about] staying in second place and take the points but I remembered a little bit 2005 when I was in 250cc and I passed [Alex] De Angelis in this corner in the last chicane for second and I thought maybe I could do the same. 

"I tried a crazy move and it was okay but I was going right in the second corner of the chicane. Finally my bike was quite fast and I could get past Marc for an unexpected victory."

Marquez reflected on the shock at seeing victory snatched away from him.

He said: "I was surprised, because I didn't expect that he would overtake me there.

"But then he went wide, so then I cut the kerb inside, and I did a great last chicane.

"But, in the end, at the last corner I tried to close and go wide again to come back with greater speed, but it was not enough to win the race."