McLaren's Norris started on pole in Zandvoort but lost the lead to Antonelli at an early standing restart after Red Bull's Max Verstappen triggered a red flag at his home race by crashing out at the end of the first lap.
After struggling to pressure Antonelli on the first stint, Norris was far quicker after switching onto a hard tyre at the first round of pit stops, and eventually passed the Mercedes after emerging from his second stop with far fresher tyres than the Italian.
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Mercedes ordered George Russell to let Antonelli through to second in the closing stages, and he was only just able to hold off Ferrari's Lewis Hamilton for the final podium spot.
Antonelli's championship lead grows to 59 points with Russell taking over second from Hamilton in the standings, while Norris reduces his deficit to the leader to 83 points.
More to follow...
Formula 1 heads to Monza for Ferrari's home race at the Italian Grand Prix on September 4-6, live on Sky Sports F1. Stream Sky Sports with NOW - no contract, cancel anytime
