Capirossi's Ducati Marlboro team-mate Carlos Checa was fifth and Biaggi's Repsol Honda team-mate Nicky Hayden sixth.
BBC: SPORT | Motorsport | Motorbikes | Rossi holds off Biaggi at Mugello
Melandri led the charge and briefly took over at the front, but it was left to Biaggi to challenge Rossi in the closing stages of the race.
But two laps later Rossi got his nose back in front for the last time, leaving Biaggi to settle for second - his best finish of the season so far.
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