Marquez and Pedrosa were still following his every move, but the Yamaha rider's pace was too fast for them to make an impression before Lorenzo crossed the line for a final time with a 0.263s advantage.
"There was a lot of pressure, especially at the end of the race, because I had been pushing all the time and I was quite tired from pushing so much." Lorenzo commented after sealing his fifth world championship.
"Dani recovered so much time and so many metres. He was at 0.5s at the middle of the race and he recovered everything, so I knew I had two riders behind me and that, if they overtook me, I would lose the championship, so it was a very difficult situation.
"I also felt that the right side of the tyre was destroyed, I was moving so much and I had to go very slowly entering right corners, so I couldn't keep the 1'31-high up and it became 1'32-low. I also couldn't see the pit board or how many laps there were left to the end. On the last lap I passed the last corner and saw the chequered flag and I couldn't believe that I won the race and the championship in the last moment.
"It's such a relaxing and enjoyable moment. I was crying on the honour lap, it's such a fantastic day for us. I equal Wayne Rainey, I equal Kenny Roberts Sr, I equal Ayrton Senna in the motorsport world with these three premier class World Titles, it's unbelievable! We have to enjoy this day, this week, because you can't often live this emotion.
"I've ridden with Valentino, Marc, Casey and Dani on the track." Lorenzo continued. "For me these are the best riders in the 21st century. The first championship title is the first one and thus very special, but to be in the championship with these four legends on track was very important to me.
"I was always behind in the championship recovering points and it's a special moment in the last race to become champion, so the championship couldn't have had a more emotional ending.
"I don't want to think about 2016 now. We will see later during the test, or after the test. Now I just want to enjoy it with the team like crazy, to feel this moment completely with no end, because it's not easy to repeat and it's not easy to become champion again. We have to enjoy it completely now, tonight, this week, next week, this is for sure!
"I was giving everything I have, the rhythm was very low, but I didn't give up. I knew the importance to put everything on the track and I did, like with yesterday's pole position."