"I'm very happy," said the young Slovakian. "When my escape was unsuccessful, I realized that it would come down to a mass sprint, so I 'rested up' a bit to prepare for the sprint."

Ireland’s Daniel Martin crossed the line in the 50-strong lead group at the same time as Velits for 26th place. The 21-year-old Martin, who is a nephew of legendary Irish cyclist and former world champion Stephen Roche will race professionally next season in the European peloton with Team Slipstream.

Ireland’s other representatives Mark Cassidy and Isaac Speirs placed 76th and 107th respectively of the 169 starters.

Earlier on Saturday Italy's Marta Bastianelli claimed victory in the elite women's road race over seven laps of the same Stuttgart circuit.

The 20-year-old broke clear with 15km to go and held off the pack to complete the 133.7km course in three hours, 46 minutes and 34 seconds.

Dutch defending champion Marianne Vos won a sprint for second place ahead of the Italian Giorgia Bronzini in third.

"The attack wasn't planned, I just went for it as I knew I'd have no chance in a bunch sprint," Bastianelli said.

Siobhan Dervan, Ireland’s sole representative in the event placed 68th of the 142 starters, crossing the line 12 minutes and 38 seconds down on the winner.

The cycling world championships continue Sunday in Stuttgart with the elite men's road race over 267.4 km. Phillip Deignan is Ireland's only representative in the 14-lap race to decide who wears cycling’s coveted rainbow jersey.

The Letterkenny man recently impressed at the Vuelta a Espana, and though he lacks team support on Sunday the Stuttgart course will suit his climbing skills.