The Yamaha rider, using both this year's and a prototype of next year's bike, posted a best time of 1:39.429 to outpace yesterday's pace-setter Dani Pedrosa by just 0.018 seconds.
Several riders started their work late before of an overnight rain had left the track wet.
Rossi and Honda's Pedrosa were the only two men who lapped the Spanish circuit in less than 100 seconds, with Jorge Lorenzo already in the 1:40s in the second works Yamaha.
The Honda Gresini team showed promising pace, with Toni Elias in fourth ahead of teammate Alex de Angelis, who completed the top five.
Nicky Hayden was sixth fastest on the only works Ducati on track, although the American finished with the exact same time as de Angelis.
"We've made a big improvement today," said Hayden. "It was important to have back-to-back days with similar conditions because at Valencia we only had one dry day and we weren't able to check that the changes we made to the bike overnight had worked.
"Today my feeling with the bike was much better from the first run and it is important that we've taken over a second and a half off my best time from yesterday.
"We are still a second off the top guys and I know the last second is the most difficult to find but at the same time we're less than a tenth off third fastest and the team is working well, I feel more and more comfortable with the bike and tyres and I can head home with a clear mind. I was pleased that Casey wanted to be here at the test.
"It has been useful to speak with him and Filippo (Preziosi) and it shows how tight the team is and how well everybody wants to do next season."
Mika Kallio was the quickest of the rookies in seventh, while veteran Sete Gibernau was ninth with the new Onde 2000 team.
MotoGP's testing ban kicks off at the start of next month. Pos Rider Team Time Laps 1. Valentino Rossi Fiat Yamaha Team 1:39.429 54 2. Dani Pedrosa Repsol Honda 1:39.447 + 0.018 47 3. Jorge Lorenzo Fiat Yamaha Team 1:40.426 + 0.997 58 4. Toni Elias San Carlo Honda Gresini 1:40.448 + 1.019 56 5. Alex De Angelis San Carlo Honda Gresini 1:40.486 + 1.057 49 6. Nicky Hayden Ducati Marlboro Team 1:40.486 + 1.057 70 7. Mika Kallio Alice Team 1:40.564 + 1.135 54 8. Colin Edwards Tech3 Yamaha 1:40.604 + 1.175 39 9. Sete Gibernau ONDE 2000 Ducati 1:40.856 + 1.427 48 10. Andrea Dovizioso Repsol Honda 1:40.966 + 1.537 46 11. Niccolo Canepa Alice Team 1:41.077 + 1.648 48 12. James Toseland Tech3 Yamaha 1:41.740 + 2.311 45 13. Tonio Guareschi Ducati Marlboro Team 1:42.906 + 3.477 46 14. Yuki Takahashi Scot Racing Team 1:42.918 + 3.489 60
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