The two Spaniards clashed at the final corner of the race as Marquez attacked Lorenzo for second place.
The incident forced Lorenzo off the track, but he did make it to the finish in third.
Marquez tried to apologise to Lorenzo in parc ferme, but the world champion wagged his finger at the rookie before turning away.
"I say sorry to Jorge because you never want that," said Marquez. "In the end the most important thing is that we both finished the race so I think it was a nice battle for the fans.
"On the last lap I did 110 per cent, and when I saw in the last corner that Jorge opened a little bit the door, then I go in."
Marquez added that he had seen footage of similar clashes at the same corner in the past, such as Valentino Rossi and Sete Gibernau in 2005.
"Many times something similar has happened there," he said. "I learned from the videos and I tried to do my best."
Lorenzo refused to comment on the clash immediately after the race, claiming "it's better not to say anything" before later admitting that he felt he had made an error in allowing Marquez a chance to attack.
"I only did two mistakes," he said. "The first one was the start, and then in the last corner for not closing the door a little bit more.
"Anyway I am happy. I think we did a good race with the bike we have and I did my best."
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