World champion Francesco Bagnaia won Sunday's season-opening Portuguese MotoGP after a costly mistake by pole-sitter Marc Marquez.

Ducati star Bagnaia coasted across the line from Aprilia's Maverick Vinales in the Algarve to follow up his win in MotoGP's inaugural sprint 24 hours earlier.

Marquez crashed and wiped out home favourite Miguel Oliveira in the early stages to leave the stage clear for Bagnaia to get his championship defence off to a perfect start.