Pedersen was in control of the race after winning the opening stage

Pedersen held a 51-second lead going into the last stage and finished safely in the main pack after the circuits around some of the city's landmarks.

The last stage was won by world champion Tom Boonen in a dramatic sprint finish on The Mall.

But Isle of Man rider Mark Cavendish was third to clinch the points title.

Interview: Tour of Britain winner Martin Pedersen

Boonen used all his experience to ride a tactically superb race to edge out Briton Roger Hammond on the line with Cavendish battling on well for third.

The Belgian's Quick Step team were at the head of the peloton and struck after Casper Jorgenson, James Meadley and Robin Sharman, who made an early break, were caught with five laps to go.

Cavendish started the day just ahead of Russell Downing and Francesco Chicchi and kept his cool to retain the green jersey.

After crossing the line, Pedersen paid tribute to his CSC team-mates.

"It was very good team work which helped me. I was lucky at times to have sat behind five good guys at times," he said.

"We just had to stay out of trouble today. It was close at the finish and I missed a crash late on so I was relieved.

"It was a beautiful day and we had a chance to see the city while we raced around the streets."

After the riders embarked on the 82km stage from Greenwich Park, Belgian rider Iljo Keisse won the opening sprint on Tower Bridge.

Briton Ben Greenwood took the climb on Highgate Hill but was not enough to stop CSC rider Andy Schleck winning the King of the Mountains title.

The day was marred by a collision between two motorcycle outriders as the race convoy entered the Mall.

A Metropolitan Police motorcyclist turning off the course hit a race marshal motorcyclist on his left.

They crashed into crowd barriers injuring two men and one woman. They were treated for around 20 minutes, yards from the race, before being taken to hospital.

With race organisers Sweet Spot also expected to be involved in the first two stages of the 2007 Tour de France in London, the accident highlights the challenges they face next July.

The accident came a day after a protest over the organisation of the Tour by the peloton.

Stage six result:

1 Tom Boonen (Bel) QuickStep-Innergetic 2hrs 00mins 41secs
2 Roger Hammond (Gbr) Great Britain
3 Mark Cavendish (Gbr) T-Mobile
4 Iljo Keisse (Bel) Chocolade Jacques-Topsport
5 Leon Van Bon (Ned) Davitamon Lotto all same time

Final classification:

1 Martin Pedersen (Den) CSC 21hrs 51mins 24secs
2 Luis Pasamontes (Spa) Unibet.com at 0mins 51secs
3 Filippo Pozzato (Ita) QuickStep-Innergetic at 02:11
4 Nick Nuyens (Bel) QuickStep-Innergetic at 02:46
5 Michael Rogers (Aus) T-Mobile at same time