Voeckler had followed Nicolas Roche (Team Sky) as the Irishman had attacked on the day's final climb of Oliver's Mount. The two rode together on the descent into Scarborough, with Roche unable to match Voeckler's sprint to the line.
Voeckler's win propelled him to the top of the general classification, with Roche settling for second overall at six seconds. Frenchman Anthony Turgis (Cofidis) was third at 16 seconds.
Thomas Voeckler wins Tour de Yorkshire 2016
(Image credit: Andy Jones)
Top-placed British rider overall was Adam Yates (Orica-GreenEdge) in fourth after he placed third on the final stage.
Roche had originally instigated the race-winning break when he attacked on the Harwood Dale climb with 25km to go in the final 20km of the long 196km stage from Middlesbrough. He was joined by Yates and Steven Kruijswijk (LottoNL-Jumbo), with Voeckler and Turgis bridging to them after a furious chase.
The five rode together until the Oliver's Mount climb, when Roche went clear followed by Voeckler. The three chasing riders could not catch them as they skirted around the Scarborough sea front, with Voeckler opening up his sprint early to take the win.
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Earlier in the day, a 10-rider escape group had led the action during the first 110km before getting caught. Sky then hit the front of the peloton, with Peter Kennaugh (Team Sky) doing a huge pace-making turn, just as he had done on the previous two stages.
Peter Kennaugh on Tour de Yorkshire 2016 stage three
(Image credit: Andy Jones)
Kennaugh's efforts whittled the peloton down severely, with only around 25 riders left with 45 hilly kilometres to go. At several points Sky riders split off from the front of the lead group before being caught, signalling the team's intention to dictate the stage.
In the end, though, Voeckler's race experience came through, with a perfectly-timed effort to seal the win in the second edition of the Tour de Yorkshire having placed third in 2015's inaugural race.
Australian Nathan Haas (Dimension Data) took the King of the Mountains win.
Watch: Tour de Yorkshire 2016 stage two highlights
Tour de Yorkshire 2016 result
Stage three: Middlesbrough to Scarborough, 196km
1. Thomas Voeckler (Fra) Direct Energie
2. Nicolas Roche (Irl) Team Sky at same time
3. Adam Yates (GBr) Orica-GreenEdge at 9 secs
4. Anthony Turgis (Fra) Cofidis
5. Steven Kruijswijk (Ned) LottoNL-Jumbo at same time
6. Lars Petter Nordhaug (Nor) Team Sky at 41 secs
7. Gianni Moscon (Ita) Team Sky at same time
8. Christopher Juul-Jensen (Den) Orica-GreenEdge at 1-09
9. Ben Hermans (Bel) BMC Racing
10. Nikias Arndt (Bel) Giant-Alpecin at same time
Final overall classification
1. Thomas Voeckler (Fra) Direct Energie
2. Nicolas Roche (Irl) Team Sky at 6 secs
3. Anthony Turgis (Fra) Cofidis at 16 secs
4. Adam Yates (GBr) Orica-GreenEdge at 17 secs
5. Steven Kruijswijk (Ned) LottoNL-Jumbo at 21 secs
6. Lars Petter Nordhaug (Nor) Team Sky at 52 secs
7. Gianni Moscon (Ita) Team Sky at 53 secs
8. Nikias Arndt (Bel) Giant-Alpecin at 1-13
9. Serge Pauwels (Bel) Dimension Data at 1-20
10. Dion Smith (NZl) One Pro Cycling at 1-21
Steve Cummings
(Image credit: Andy Jones)
Team Sky lead at Robin Hood Bay
(Image credit: Andy Jones)
Serge Pauwels at Robin Hood Bay
(Image credit: Andy Jones)
Thomas Voeckler congratulated after his win
(Image credit: Andy Jones)
Classification winners
(Image credit: Andy Jones)
Team Sky take team honours
(Image credit: Andy Jones)
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