The Red Bull driver was on a flying lap in the early stages of FP2 at Zandvoort when the session was red-flagged after Lewis Hamilton stopped on track.

Onboard camera footage showed Verstappen passing Lance Stroll between Turns 10 and 11 while the Aston Martin driver was on a slow lap.

Just as Verstappen was closing up to Stroll to make the pass, the light panel on the left-hand side of the circuit turned red.

Usually, drivers would be handed a grid penalty for such an offence. At last year’s Styrian Grand Prix, Lando Norris received a three-place grid drop for overtaking under yellow flags.

But the stewards decided to take no further action after feeling Verstappen reacted appropriately given the proximity and speed difference of the two cars.

“The race management system indicates that the red flag and red lights were initiated at 15:10:12," the stewards noted. "When [Verstappen] passed light panel 14 (which is prior to the point of the overtake) it was not illuminated. As [Verstappen] approached the rear of the car (within a few metres) of [Stroll], the red light on [Verstappen’s] steering wheel activated. At this point [Verstappen’s] speed was 260kph and [Stroll’s] was 110kph, a delta of 150kph.

“At this point, telemetry shows that [Verstappen] immediately lifted and braked. Because of the speed delta, [Verstappen’s] momentum carried him past [Stroll].

“Simultaneously the light panel 15 (showing red) became visible to [Verstappen]. At approximately 15:10:17 the team radioed [Verstappen] “red flag”.

“It is our conclusion that the driver of car 33 took every reasonable action to comply with the regulations in that he immediately reduced speed in a safe manner at the earliest opportunity upon the first indication of the red flag, even before a red flag or red light panel was visible to him, and that this satisfies the requirements of the Code.”