MotoGP world champion Jorge Lorenzo clipped another four points off Casey Stoner's 2011 title lead with a perfectly executed last-turn pass on the Honda rider in Sunday's German Grand Prix.

Factory Yamaha star Lorenzo was the only non-RCV rider in the top five for much of the race, which he led from laps 14 to 21.

At that point eventual winner Dani Pedrosa burst past along the home straight, leaving Lorenzo and Stoner to dispute second.

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The pair swapped positions repeatedly over the remaining nine laps, culminating in Lorenzo outbraking the Australian at the last turn.

"I'm very happy! It has been a fantastic race today. From the middle of the race I got very tired in my left hand so I didn't know where I could find the force to push and keep pushing to the end," said double 2011 race winner Lorenzo.

"Then Casey stopped the bike a lot two corners from the end so I took profit from it, opened full throttle and in the last corner I went for it. It was a miracle pass!

"This race is very important so we are very proud and happy with the result."

Denying Stoner of second place means Lorenzo has moved to within 15 points of the title lead, with nine rounds still to go.

"To make up four championship points in the last corner at the end of the race is of course great, especially mentally for Jorge," said team manager Wilco Zeelenberg berg., "The rest of the season is coming up and we're closing the gap with still a few races to go!"

"A good weekend for us, we are catching Stoner," added team director Massimo Meregalli. "I think Jorge did a really great job and a very impressive last lap. He saw a door almost open and he just went in and took the place cleanly, a perfect job."

Team-mate Ben Spies finished fifth.