Ducati's reigning MotoGP world champion Francesco Bagnaia has claimed pole position for the French Grand Prix after finishing on top in the qualifying session.

The Italian star was fastest in Le Mans with a time of 1 minute 30.705 seconds, 0.058 seconds ahead of six-times MotoGP world champion Marc Marquez, who was making his return after recovering from a hand injury.

Australia's Jack Miller will start from the second line of the grid after qualifying fourth fastest.

"I pushed a lot. It's not been easy, it wasn't the best start to the week," Bagnaia said.

"The pace was very competitive, but finally we can also be competitive."

Italian Luca Marini - MotoGP great Valentino Rossi's half-brother - completes the front row for Sunday's race after coming through Q1 before finishing 0.137 seconds behind Honda's Marquez.

"It was really tough in Q1," Marini said. "I tried hard to give my all and risk everything."