Top independent rider
Cal Crutchlow (LCR Honda Castrol) enjoyed a fantastic ride to finish as top Independent Team rider in fourth.
The Brit was locked in a battle with Repsol Honda Team's Dani Pedrosa in the latter stages of the race before getting the better of the Spaniard down into Turn 4 and Pedrosa rounded out the top five.
Opening lap woes
Maverick Vinales' (Movistar Yamaha MotoGP) opening lap woes continued, with the home rider finishing the first lap down in P10 after starting fourth.
The Spaniard managed to salvage sixth at the flag, holding off Johann Zarco (Monster Yamaha Tech 3), with the two locked together throughout the race.
Danilo Petrucci (Alma Pramac Racing) crossed the line eighth, with fellow Ducati rider Alvaro Bautista (Angel Nieto Team) seven seconds further back in ninth.
Mesmerising display
It was another mesmerising display from five-time world champion Lorenzo at the Catalan GP, who will be aiming for his third consecutive victory as the premier class head to the classic Assen circuit.
And Marquez extended his championship lead to 27 points, but Rossi remains his closest challenger - and the 'Doctor' has oft been the master of the TT Circuit Assen.