The fortunes of MotoGP's title contenders pivoted from moment to moment in Sunday's championship-deciding race at Valencia.
Spain's Marc Marquez was fifth with a time of 1:31.243, but the Spaniard later crashed on the second turn of Free Practice 2 - his 26th fall of the season - to end day in the sixth spot.
Marquez's Honda teammate Dani Pedrosa won the race from France's Johann Zarco in second.
He needed to finish 11th to ensure that nothing Dovizioso could do would make a difference and with 21 points to make up, the Italian knew that he had to win the race and hope for another mistake to end Marquez's race.
Newly crowned six-time champion Marc Marquez admitted to making "stupid mistakes" - and after an incredible save, he had resigned himself to losing the championship until Andrea Dovizioso made a mistake of his own.
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At just 24, a highly mature Marquez is the youngest ever rider to win four premier class world titles after just five seasons in MotoGP - adding to two other world championships at lower levels.
Both Ducati riders then fell a lap later, first Lorenzo and then Dovizioso.
Asked what went through his mind when he saw Marquez nearly crash out ahead of him, Dovizioso replied: "We are not surprised about that!" When I lose the front, I say, okay, I will stay with my bike and see where we finish.
"I am happy that I achieved my goal of being in front, because the start is very important on this track", Marquez said on Saturday.
"When I see that [Jorge] Lorenzo and Dovi did the mistake [running into the gravel with six laps to go]". This is a standard thing for Marc.
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"It was good for me to follow him, I could stay with them, but we were over the limit the whole race".
The fight for the finish came down to Zarco and Pedrosa, with the latter launching a last-lap attack to earn his second win this year following Jerez.
"Suddenly I said now is the time to push because I felt really good".
"Johann was very strong all the race and it was very hard because he was going into the corner very fast". In turn one I lost concentration on the braking point.
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