2020

In 2020 Martín remained with the Ajo outfit, but the team switched to riding a Kalex. He started the season well, getting pole position and third place in Jerez. He then won his first Moto2 race in the Austrian Grand Prix, before finishing in second place in the next weekend's Styrian Grand Prix. On the 10th of September 2020, he announced that he was positive to covid-19, which forced him to skip the two following rounds in Rimini and Misano. Martín recovered well, and ended the season with a third place in Aragón, a second place in the first Valencian race, and a victory in the second race in Valencia. He ended the season with six podiums, evenly distributed 2-2-2 each for every step of the podium, one pole position, and 160 points, enough for 5th in the championship standings.

2021

Martín joined the premier class with Pramac Racing Ducati, alongside Johann Zarco who moved from Esponsorama, for the 2021 season. Martín started with finishing 15th in his first race of the premier class, then scored a pole position in the second round of the year in Qatar, finishing the race in 3rd place, and scoring his first MotoGP podium. Unfortunately he had a serious accident during the practice before the 2021 Portuguese Grand Prix, and was forced to miss the Portuguese, Spanish, French and Italian races, being replaced for the first two rounds by Tito Rabat, and the latter two by Michele Pirro. Martín was originally meant to return for the Italian Grand Prix, but due to advise by doctors he forwent the race. He made a full return in the Catalan Grand Prix, finishing 14th, before a 12th place finish at the German Grand Prix, and a retirement at the Dutch GP, after he was having physical issues with his biceps and also having tendinitis. At the Styrian GP, Martín took his second pole position, and following a red flag incident, he took his maiden MotoGP win in the re-started race. With this victory, he earned Pramac Racing’s first ever MotoGP victory, and became just the third rider in the modern 1000cc era, to win a race in his rookie season, after Marc Márquez in 2013, and Brad Binder in 2020. The very next weekend, he grabbed his third pole position of the season in Austria, and his third podium too, finishing the race in third. In the season closer at Valencia, Martín scored his fourth pole position, and his fourth podium, finishing the race in second place. When on pole position, he never finished off the podium, collecting 111 points, enough for 9th in the championship, and won rookie of the year by 9 points over Enea Bastianini.

2022

Martín and Zarco remained with Pramac Racing for the 2022 MotoGP season.^[5] At the 2022 Australian motorcycle Grand Prix, Martín took pole, and broke the all-time lap at the Phillip Island Grand Prix Circuit.^[6]

2023

Pramac Racing retained Martín and Zarco for the 2023 MotoGP World Championship.^[7]

Over the early and middle phases of the season, Martín established himself as a firm championship contender, along with world champion Francesco Bagnaia and Marco Bezzecchi after wins in Germany and San Marino. Said championship challenge was strengthened by championship leader Bagnaia's crash at the Indian Grand Prix, after which Martín only trailed the championship lead by 13 points. Martín briefly took the championship lead after the sprint race at the Indonesian Grand Prix, but the lead was ceded back to Bagnaia after he crashed out of the lead of the main race, which was eventually won by Bagnaia. For the rest of the season, Martín remained a challenger for the championship until the final round, and his crash in the main race at the Valencian Community Grand Prix officially ended his championship challenge. Ultimately, Martín finished 39 points behind Bagnaia, placing him a personal-best 2nd in the riders' championship.