Lorenzo, who wrapped up his third title when he won Sunday's Valencia Grand Prix, was about to leave the airport near the capital Palma to ride in a cavalcade with fans when hot smoke poured out of the machine forcing him to leap off.
He later appeared at an event with Balearic Islands president Francina Armengol with a thick bandage covering his left leg from knee to ankle.
"If I was able to race in Assen having just had a collarbone operation this is nothing," Lorenzo was quoted as saying in local media.
Lorenzo beat Italian Yamaha team mate Valentino Rossi to the title by five points, with Spanish compatriot and defending champion Marc Marquez of Honda third.
(Reporting by Iain Rogers, editing by Martyn Herman)
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