Championship leader Valentino Rossi edged defending MotoGP champion Marc Marquez to a thrilling victory at Assen to register his first win in five races.

The Movistar Yamaha rider had only won two of the opening seven races and looked to have squandered his chance for third when he allowed Repsol Honda's Marquez to pass six laps from the chequered flag.

But Rossi, who had been fined along with Aleix Espargaro for ignoring a pitlane red light in qualifying, wrestled back the lead four laps later to extend his lead at the top of the riders' standings to 10 points over team-mate Jorge Lorenzo.

Rossi and Marquez had formed part of an early breakaway with Lorenzo - winner of the last four races - but the front pairing began to establish some daylight over the third-placed rider.

Marquez stalked pole-sitter Rossi until finally making his move after 20 laps. Following an error by Rossi on his exit from the chicane on lap 19, Marquez overtook at turn one.

However, Rossi refused to lie down and clinched back the lead at turn 10 with just two laps remaining.

Marquez made one last bid for a second win of the season when he lunged at the last chicane, but, despite being forced to take a detour over the gravel following contact between the two, Rossi clung on for a much-needed win.

The Spaniard suggested after the race that he felt hard-done-by following the incident.

Lorenzo rounded off the top three, with Andrea Iannone, Pol Espargaro and Cal Crutchlow following him over the line.