Marc Marquez won the Spanish MotoGP to take the overall points lead after several of his rivals crashed out of the race on Sunday.
With Marquez breaking away out front, Dovizioso and Lorenzo were battling for second place towards the closing stages of the race, with the incident triggered by the Italian diving down the inside of Lorenzo at the Turn 6 right-hand hairpin.
Lorenzo came across into the corner as Dovizioso went wide, colliding with Pedrosa and sending the two Ducatis into the gravel.
"I started from the second row but I was clever to overtake the other riders in the beginning", the Spanish rider said, adding, "It was almost impossible to overtake Lorenzo".
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It all happened just a couple of laps before the finish.
Marquez's win puts him in first overall now, with 70 points.
Speaking after the race, the Frenchman, who finished at the fourth position in the last three races, said that he could not believe his luck. The 2017 race victor Dani Pedrosa had the second best time ahead of Johann Zarco and Jorge Lorenzo.
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Seven-time world champion Valentino Rossi was fifth in a race during which he reached a career milestone by completing the circumference of the planet in race kilometres.
Rossi has now covered 40,075km in competition over 23 seasons, starting at the 1996 Malaysian Grand Prix.
Along with the aforementioned trio, and Luthi, erstwhile polesitter Crutchlow slid out of fourth spot at Turn 1, while Alex Rins crashed in the final sector, throwing away fifth.
The crash between Marquez's main rivals is of great significance because it has changed the course of the championship.
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