Mark Cavendish has won the second stage of the Tour de France in a thrilling sprint finish.

Cavendish edged out Andre Greipel in the final 200m to win by half a bike length, while Matthew Goss crossed the line in third.

"I was alone in the last kilometre. I told Edvald [Boasson Hagen] with five kilometres to go just do your own thing. We haven't worked enough together when it's so hectic like that. If it had just been the sprinters then it would have been okay but there were climbers and GC riders at the finish. I'd rather just go alone," said the 27-year-old.

"Bernie Eisel kept me up there coming into the final. I knew it was going to be difficult, dangerous and hectic here and I came in without any pressure. I could just be plucky about it. Normally I've had a team in the past who can control it.

"I knew [Oscar] Freire always goes up in the last kilometre so I stayed [with him] and it was just perfect - with the headwind I knew you could come from behind."

The victory was Cavendish's 21st stage win, putting him sixth in the all-time list, just one win behind seven-time winner Lance Armstrong.