The Spaniard had qualified third but lost out to Honda's Andrea Dovizioso and Suzuki's Loris Capirossi early on.
Lorenzo soon cleared the two Italians to regain third and then had a quiet run to the final podium spot.
But despite being pleased with a place on the rostrum, Lorenzo was frustrated with the gap between his pace and that of Casey Stoner and Valentino Rossi ahead.
"I am happy with the result because third position is a good position to begin with, but I am not happy with the pace," Lorenzo told the BBC.
"Our pace has been slow compared to Valentino and Casey. We have to improve a lot to try and win some races this year."
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