Rossi was fastest in the wet warm-up session but started fourth on the grid following a delayed start to the race after the riders had to stop their warm-up lap to switch back to wet tyres.
He passed team-mate and title rival Lorenzo at Village corner and led by the end of lap two.
Rossi and Marquez broke away before Marquez crashed out at Copse on lap 13.
Petrucci was left in second and reduced the gap to just 1.6 seconds with two laps remaining before Rossi responded to a pit message and pulled away again to win by 3.010 seconds.
Britain's Danny Kent, 21, won the Moto3 race to extend his lead at the top of the championship.
He becomes the first British rider to win a lightweight grand prix at Silverstone.
Kent said: "It's the best win of my career. If there's a date on the diary you want to win, it's your home Grand Prix."
British MotoGP results:
1. Valentino Rossi (Italy) Yamaha 46 minutes 15.617 seconds
2. Danilo Petrucci (Italy) Ducati 46:18.627
3. Andrea Dovizioso (Italy) Ducati 46:19.734
4. Jorge Lorenzo (Spain) Yamaha 46:21.343
5. Dani Pedrosa (Spain) Honda 46:26.749
6. Scott Redding (Britain) Honda 46:41.084
7. Bradley Smith (Britain) Yamaha 46:42.334
8. Andrea Iannone (Italy) Ducati 46:45.010
9. Aleix Espargaro (Spain) Suzuki 46:54.432
10. Alvaro Bautista (Spain) Aprilia 46:57.329
11. Maverick Vinales (Spain) Suzuki 47:00.393
12. Nicky Hayden (U.S.) Honda 47:08.106
13. Hector Barbera (Spain) Ducati 47:26.828
14. Mike Di Meglio (France) Ducati 47:30.909
15. Alex de Angelis (San Marino) ART 47:33.480
MotoGP Standings after race 12 of 18:
1. Valentino Rossi (Italy) Yamaha 236
2. Jorge Lorenzo (Spain) Yamaha 224
3. Marc Marquez (Spain) Honda 159
4. Andrea Iannone (Italy) Ducati 150
5. Andrea Dovizioso (Italy) Ducati 120
6. Bradley Smith (Britain) Yamaha 115
7. Dani Pedrosa (Spain) Honda 102
8. Danilo Petrucci (Italy) Ducati 83
9. Pol Espargaro (Spain) Yamaha 81
10. Cal Crutchlow (Britain) Honda 74
11. Maverick Vinales (Spain) Suzuki 67
12. Aleix Espargaro (Spain) Suzuki 60
13. Scott Redding (Britain) Honda 47
14. Yonny Hernandez (Colombia) Ducati 41
15. Hector Barbera (Spain) Ducati 23
Full Race Video :
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