Andre Greipel registered a long-awaited victory over arch-rival Mark Cavendish to win stage 10 of the Tour de France.

Omega Pharma-Lotto sprinter Greipel, who left Cavendish’s HTC-Highroad team last season, accelerated past the Manx Missile on the finishing straight in Carmaux to register his first Tour de France stage win.

Movistar sprinter Jose Rojas claimed third while Garmin-Cervelo’s Thor Hushovd, who wore the yellow jersey from stage two to 10, finished fourth.

Thomas Voeckler took over the maillot jaune from Hushovd after finishing second on stage nine and the Frenchman wore the jersey in style, attacking on the final climb with green jersey holder Philippe Gilbert before being reeled in and finishing safely in the bunch.

The victory is Greipel’s first in the Tour de France and the fast man is now the first German to win stages in all three Grand Tours after being overlooked for past editions of the Tour by HTC in favour of 17-time stage winner Cavendish.

“Of course it was always a hard decision that the sport directors [at HTC ] had to make about selection,” said Greipel. “The success of Mark Cavendish is incredible; he’s won 17 stages of the Tour de France and this sort of record gave the sport directors and him the right to make the selection.

“That’s why it’s been hard for me in the past to get in to do this race. I’m grateful to Omega Pharma-Lotto for giving me a chance and I’m happy that I could win for this team.”

After enjoying a well-earned rest day following a crash-filled first week, it took just 10km for bodies to hit the deck, with Fabian Cancellara (Leopard-Trek), Levi Leipheimer (RadioShack) and Robert Gesink (Rabobank) among the riders to fall.

The day’s break – Remi Di Gregorio (Astana), Sebastien Minard (AG2R), Arthur Vichot (FDJ), Julien El Fares (Cofidis), Anthony Delaplace (Saur Sojasun) and Marco Marcato (Vacansoleil) – opened up a four minute lead over the bunch but were reeled in with 20km to the line.

Tony Gallopin (Cofidis) then attacked on the final category four climb, prompting a reaction from Voeckler and Gilbert, who had Tony Martin (HTC-Highroad) and Dries Devenyns (Quick-Step) in tow.

The lead group established a 15-second advantage over the peloton but, with the escapees unwilling to share the work, Gilbert seized the initiative and made a lone break of his own.

But the Belgian national champion’s effort were in vain and a bunch sprint loomed large – but with Cavendish without his formidable HTC leadout train.

That forced the Brit to launch an early sprint and Greipel timed his counter-attack to perfection, beating Cavendish, whose second-place draws him within 29 points of green jersey Gilbert, by a wheel.