Francesco Bagnaia took victory in the MotoGP Catalunya Grand Prix, winning ahead of Jorge Martin.

On the face of it, Bagnaia making the holeshot, leading the first lap, and winning by almost two seconds sound like the statistics of a boring Grand Prix, but Bagnaia led only briefly at the start before he was passed by Jorge Martin.

Martin had passed Pedro Acosta to get to Bagnaia's rear wheel, and Acosta was only a lap behind Martin in getting through the Italian.

Martin and Acosta pulled away by a second, but Bagnaia held the gap there.

Acosta spent several laps trying to fashion an overtake on Martin, but crashed on lap 11 before he had chance.

Acosta remounted to finish 14th, but the battle for the lead was now between Martin and Bagnaia, wh immediately started to close on Martin after Acosta fell.

By lap 18, Bagnaia had closed to Martin's wheel, and the lap after he used his superior right-side edge grip to set Martin up through turns three and four and make the pass at turn five, where he fell from the lead in Saturday's Catalan Sprint.

Bagnaia carefully stretched his advantage after that tenth-by-tenth, eventually winning by 1.740 seconds.

For Martin, second place was far from a disaster. He came to Barcelona leading the championship by 38 points, and leaves leading it by 39.

Marc Marquez' comeback from 14th on the grid was less explosive than on Saturday, but he passed Aleix Espargaro with three laps to go to take third place, depriving Espargaro of a podium in his final home race.

Espargaro took fourth, ahead of Fabio Di Giannantonio, Raul Fernandez, Alex Marquez, Brad Binder, Enea Bastianini, and Fabio Quartararo.

After the race, Enea Bastianini was handed a ride-through-equivalent penalty of 32 seconds for not completing his double-long-lap penalty. That dropped him to 18th, promoted Miguel Oliveria to the top 10, and gave Joan Mir the final point in 15th.