Brno MotoGP: Jorge Lorenzo applauds 'brave' Dani Pedrosa

The pair swapped the lead four times on the final lap in the Czech Republic before Pedrosa claimed victory by a tenth of a second.

Lorenzo had led the early laps before Pedrosa slipped past, but the Honda was never able to shake the Yamaha off as they built up to their last-gasp showdown.

"It was a fun race, especially on the last lap, because we were both so strong," said Lorenzo.

"He had his good points and I had mine. It was a little race of strategy. Sometimes he slowed the pace down to catch some air, as I had a little before."

Although Lorenzo was defending a championship lead, he said he had no qualms about pushing for victory on the last lap.

"I knew victory was so close and I had to try something," said Lorenzo. "So I tried in this slow corner.

"I was sure Dani was going to try [to fight back]. Maybe I made a mistake in the uphill, my line was so wide. I released a little space for Dani to overtake me.

"I wanted to past him in the last corner but it was impossible, he had the faster line so I couldn't."

Pedrosa's victory reduces Lorenzo's championship lead to 13 points with six races remaining.

"Dani was a brave rider today," said Lorenzo. "Maybe next time will be different. I hope so."