Lorenzo leads Rossi in Valencia practice

The three-time world champion, who moves to Ducati for next year after nine seasons with Yamaha, finished fastest ahead of team-mate Valentino Rossi.

Lorenzo led the way early with a time of 1m31.841s, before 2016 champion Marc Marquez moved to the top and then clear of the field during a five-minute run halfway through the session.

Marquez set a 1m31.744s, then improved on each of his next three laps to eventually record a 1m31.442s, 0.343 seconds up at the time.

Ducati's Andrea Dovizioso narrowed that advantage to one tenth, before Lorenzo reclaimed top spot on his final run.

With four minutes remaining, Lorenzo set a 1m31.072s, before improving again to a 1m31.045s.

Rossi moved up from sixth to third and then to second in the closing stages, finishing 0.387s behind his team-mate in a Yamaha one-two.

Marquez wound up third ahead of Dovizioso, while Pol Espargaro was the leading satellite rider for Tech3 Yamaha in fifth, having run as high as second during the 45 minutes.

Suzuki pair Maverick Vinales and Aleix Espargaro were sixth and seventh, eight tenths off the pace, while Jack Miller, Scott Redding and Andrea Iannone completed the top 10.

Honda's Dani Pedrosa was 12th fastest on his return from the broken collarbone and fibula sustained at Motegi last month.

Cal Crutchlow finished two places further back for LCR Honda, riding with injuries including fractures in his left hand and right foot following his crashes at Sepang a fortnight ago.

In its first official session of its new MotoGP programme, KTM wound up at the foot of the timesheets, with Mika Kallio 2.940s slower than Lorenzo.