The Spaniard made it six wins from as many races in Mugello on Sunday but was handed arguably his biggest test of the MotoGP campaign by compatriot Lorenzo.
Lorenzo led early on and was involved in a battle for the lead with Marquez throughout a number of later laps.
The reigning world champion proved his quality to hold on to top spot but acknowledged the threat posed by the Yamaha rider.
“I’m really happy, I think this is the toughest race of this year,” he said. “I was struggling in the beginning, Jorge was very strong mid-corner.
“(Lorenzo) carried a lot of speed. With the used tyres I felt better, like in the practice. Everything was perfect, we were able to overtake him on the straight due to a change we made to sixth gear.
“When I passed Jorge I knew immediately he would come back. That’s why I didn’t push 100 per cent. I was on the limit behind him so I pushed for one lap to try to be calm.
“On the last lap I pushed 100 per cent to get the win.”
Marquez’s win moves him to 150 points for the season – ensuring him a lead of 53 points from Valentino Rossi going into the Catalunya Grand Prix.
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