Misano MotoGP: Jorge Lorenzo on pole, frustrated at Valentino Rossi

The Yamaha rider went to the top of the times early on in Q2 and then moved four tenths clear of the field with a 1m32.146s on his second run, bettering his own circuit record from third practice.

Marc Marquez fell just over a tenth of a second short of that Lorenzo effort with his best flying lap at the end of the session.

Despite securing pole, Lorenzo was frustrated with his Yamaha team-mate Valentino Rossi after the session, having encountered him going slowly on circuit while on his third and final attempt.

Lorenzo felt that he would have improved by a couple of tenths on that lap had he not been held up, explaining that he had made a mistake in the last part of his pole lap.

"He's on the pole anyway so it's not a big problem," said Rossi, who made the front row in third, two tenths off Lorenzo's lap.

Dani Pedrosa was the nearest man to Lorenzo for the majority of the session but found himself pushed off the front row before the end and down to fourth.

Michele Pirro claimed a fabulous fifth place on the extra third Ducati entered for this race, with his team-mates Andrea Iannone and Andrea Dovizioso seventh and eighth respectively behind Tech 3 Yamaha rider Bradley Smith.

Silverstone podium finisher Danilo Petrucci was ninth, while Aleix Espargaro, Cal Crutchlow and Pol Espargaro will share row three.

Aleix Espargaro and Crutchlow were the two riders to come through from Q1, with a last-minute flier from Espargaro denying Scott Redding.

Espargaro's Suzuki team-mate Maverick Vinales and Pramac Ducati rider Yonny Hernandez were also unable to progress.

QUALIFYING RESULTS: