Jorge Lorenzo has won his third MotoGP title with a victory at the season-ending Valencia GP on Sunday as Valentino Rossi failed to make enough ground from the back of the grid.

Lorenzo entered the race trailing Rossi by seven points but the veteran Italian couldn't manage more than a fourth-place finish. Rossi, who needed to finish at least second, started last on the grid because of a penalty for kicking Marc Marquez in the previous race.

Lorenzo ended with 330 points, five more than Rossi, who was trying to win his eighth world title and the first since 2009.

Lorenzo added to his MotoGP triumphs in 2010 and 2012. The 28-year-old Spaniard started from pole position and stayed in front from the start.