Cavendish was making his way back up to the peloton after a 'comfort break' and appears to come into contact with the side of the Rapha team car just as it was assisting a rider.
Remarkably, Cavendish remounted his bike and managed to place third on the stage despite sustaining a leg injury.
Manxman has swollen hip and thigh, but did not require hospital attention last night.
Thank you for reading 20 articles this month* Join now for unlimited access
Enjoy your first month for just £1 / $1 / €1
*Read 5 free articles per month without a subscription
Join now for unlimited access
Try first month for just £1 / $1 / €1