WATCH the Madrid Open LIVE in Australia on beIN SPORTS | Subscribe here and take advantage of our 7-day FREE TRIAL

No.2 seed  Zverev won 6-1 3-6 6-3 in an hour and 44 minutes and will face Terence Atmane in the next round of the competition.

The first set was straightforward for Zverev, who converted two of his three break-point opportunities to take the lead.

However, Navone found his rhythm in the second and broke Zverev's twice on his way to a 5-1 lead, although the Argentinian dropped one service before taking the set.

Zverev was back to his best in the third, with one break of serve enough for the German to clinch victory, which he did with his second match point.

Elsewhere in the Spanish capital, Daniil Medvedev also needed three sets to defeat Fabian Marozsan.

Medvedev, who won 6-2 6-7 (7-3) against Marozsan, will face qualifier Nicolai Budkov Kjaer in the third round.