Penske’s Brad Keselowski recovered from an early penalty to claim victory in Sunday’s NASCAR Sprint Cup race at Martinsville.

Keselowski beat Joe Gibbs Racing’s Kyle Busch to the win, the pair having battled for the lead over the course of the final 100 laps of the 500-lap distance.

But Keselowski broke free in the final 20 laps, as Busch began to complain about his handling on his final set of tyres, to secure the victory.

The win was Keselowski’s fifth-straight top-five finish, his longest such streak, while the result means he is the first NASCAR driver to win two Cup races this season.

Keselowski’s victory also came after he had been put to the back of the field by a penalty for speeding on pit road during the first caution after 69 laps, although he recovered to be back among the leading cars before half distance.

Chase Elliot finished third having been in contention with the leaders for a lot of the distance.

Keselowski’s Penske team-mate Joey Logano recovered to finish a strong fourth after an early pit road penalty, while he also sustained a flat left-rear tyre at half-distance that meant he lost two laps after pitting under green flag conditions.

Austin Dillon completed the top five, followed by AJ Allmendinger.

Poleman and points leader Kyle Larson led the first 23 laps but then fell back rapidly, complaining about poor drive off the corners.

Adjustments at his stops improved his handling but he still suffered with tyre longevity and battery problems and finished 17th.

Nine-time Martinsville winner Jimmie Johnson’s frustrating season continued, as he finished 15th having made an extra pit stop in the final 100 laps.

Busch’s late issues handling issues were not the only problems the 2015 champion faced.

Having led all of the second stage – after taking the lead under a full course yellow when those who gambled on not pitting finally did so – Busch was denied victory when Ricky Stenhouse Jr, keen to stay on the lead lap, pushed him wide – instead allowing Elliot to pip Busch on the line.

Martin Truex Jr won stage one after not pitting under a late yellow in the stage when Denny Hamlin and Busch ahead did so.

RESULT – 500 LAPS:

Keselowski claims Martinsville NASCAR Sprint Cup win