Lorenzo, a Spanish rider with Ducati, clocked 1 minute, 31.629 seconds around the Misano World Circuit Marco Simoncelli for a 0.287-second advantage over Jack Miller, the Australian who was a surprising second.
Maverick Vinales rounded out the front row while MotoGP championship leader Marc Marquez crashed with just minutes left in Q2.
Home favorite Valentino Rossi, who is a distant second in the standings behind Marquez, placed a disappointing seventh.
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