Reigning world champion Marc Marquez won on a Sunday for the first time this season as he held off young Spanish compatriot Pedro Acosta to take the Hungarian MotoGP.
Francesco Bagnaia finished a distant third while the top two in the standings, Aprilia pair Marco Bezzecchi and Jorge Martin, crashed out on the first corner.
In a battle of the generations, 33-year-old Marquez, who also won Saturday's sprint, and Acosta, 22, exchanged the lead a couple of times before the veteran pulled away in the closing laps.
Marquez on a factory Ducati beat KTM's Acosta by just over two seconds.