VALENCIA -  Three-time world champion Jorge Lorenzo signed off his nine-year Yamaha career with victory in the Valencia Grand Prix on Sunday, the final event of the 2016 season.

The Spaniard led from pole position to take victory from world champion Marc Marquez on a Honda with Andrea Iannone on a Ducati taking third place.

Lorenzo, who will switch to Ducati in 2017, secured third in the championship behind Marquez and Yamaha teammate Valentino Rossi, who was fourth on Sunday. "Now I can relax," said Lorenzo after a 44th career win. "It's very emotional after nine years with Yamaha. I didn't expect to win today because I knew Marc was very strong. I suffered in the last 10 laps because he was pushing and attacking." World champion Johann Zarco, riding a Kalex, won the Moto2 race for his 16th career victory. The French rider, who will race in the elite MotoGP category next season, captured his seventh win of the current campaign. Switzerland's Thomas Luthi was second on Sunday with Italy's Franco Morbidelli coming home in third place.

Luthi was able to claim the runners-up spot in the championship ahead of Spain's Alex Rins who was fifth in the race. South African Brad Binder riding for KTM won the Moto3 race.  The world champion landed his seventh win of the season as he saw off Spaniard Joan Mir and Italian Andrea Migno, also of KTM.

Italian Enea Bastianini secured second spot in the championship after placing fourth on a Honda.