"I was really close to Shinya Nakano in the first corner and that picked me up and I lost quite a few places.
"I kept my calm because I knew it was a long race and I didn't want to make the same mistake I did at Le Mans, where I crashed.
"I just had to settle down and I didn't do anything stupid."
Rossi has won every Grand Prix of the MotoGP era at Mugello at the circuit, and with team-mate Lorenzo failing to finish, he is now 12 points clear of second-placed Pedrosa in the championship standings, as he aims for a sixth elite class world title.
Rossi's victory completed an Italian hat-trick with Marco Simoncelli having won the 250cc race and Simone Corsi coming home first in the 125cc race.
Italian MotoGP race result:
1 V Rossi (It) Yamaha 42mins 31.153secs 2 C Stoner (Aus) Ducati 42:33.354 3 D Pedrosa (Spn) Honda 42:36.020 4 A de Angelis (SM) Honda 42:37.466 5 C Edwards (US) Yamaha 42:43.683 6 J Toseland (GB) Yamaha 42:44.959 7 L Capirossi (It) Suzuki 42:45.600 8 A Dovizioso (It) Honda 42:46.472 9 S Nakano (Jpn) Honda 42:46.480 10 C Vermeulen (Aus) Suzuki 43:01.938
MotoGP world championship standings:
1 V Rossi (It) Yamaha 122points 2 D Pedrosa (Sp) Honda 110 3 J Lorenzo (Sp) Yamaha 94 4 C Stoner (Aus) Ducati 76 5 C Edwards (US) Yamaha 58
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