Rohan Dennis (BMC Racing) rode the fastest individual time trial in Tour de France history to claim the first yellow jersey as the race got underway in the heat of Utrecht.

Dennis was one of the early starters and, despite claiming he went out too fast, broke the 15-minute mark with 14.56 – his average speed of 55.4km/h beating Chris Boardman’s 1994 record.

Dennis trailed by one second to Jos van Emden at the intermediate time check, but stormed back on the technical, but very fast, course to earn a long stint in the hot seat.

Tony Martin (Etixx-QuickStep) came closest to toppling the Australian ace but was unable to turn around a three-second deficit at the time check despite a seamless finish to his effort.

The German champion later said the heat – on a scorching day in Utrecht – had been detrimental as he ultimately finished five seconds down.

Earlier, home favourite Tom Dumoulin (Giant-Alpecin) was roared around the course by the Dutch fans and pushed Dennis’ time with every pedal stroke.

The Dutchman was just one second down on Dennis at the halfway point, and caught his minute man, Tiago Machado, on the final bend – which actually slightly hampered him.

Dennis stayed relaxed in the hot seat, however, waving to the camera as Dumoulin ultimately finished eight seconds slower.

With Dumoulin out on the course, British champion Alex Dowsett managed to avoid as close a scrutiny but was only five seconds down at the time check.

He finished 36” adrift of Dennis’ time, however, with the Australian looking more and more comfortable in the hot seat as the contenders came and went.

Matthias Brandle (IAM Cycling) at 23 seconds, Italian champion Adriano Malori (Movistar) at 29 seconds and Britain’s Steve Cummings (MTN-Qhubeka) at 32 seconds also all impressed, but could not topple Dennis.

Fabian Cancellara (Trek Factory Racing) was the last time trial specialist out and – like Dumoulin – was just one second behind Dennis at halfway but the Swiss ace’s impressive run of Tour prologue victories finally ended, ultimately dropping to third overall.

With Dennis’ victory assured, the major GC men then bid to avoid big losses on the day after early starters Nairo Quintana (1’01”) and Romain Bardet (1’33”) lost more than a minute to Dennis.

Alberto Contador (Tinkoff-Saxo) was the first out, with Chris Froome (Team Sky) next out and Vincenzo Nibali (Astana) the last onto the course but all three were split only by a handful of seconds – Nibali going best to claim 22nd place on the day.

Their battles will come, but for now the moment belongs to Dennis, who will ride out in yellow on stage two.

Tour de France 2015: stage one – result

1) Rohan Dennis (AUS) – BMC Racing – 14.56
2) Tony Martin (GER) – Etixx-QuickStep +5”
3) Fabian Cancellara (SUI) – Trek Factory Racing +6”
4) Tom Dumoulin (NED) – Giant-Alpecin +8”
5) Jos van Emden (NED) – LottoNL-Jumbo +15”
6) Jonathon Castroviejo (ESP) – Movistar +23”
7) Matthias Brandle (AUT) – IAM Cycling – ST
8) Adriano Malori (ITA) – Movistar +29”
9) Wilco Kelderman (NED) – LottoNL-Jumbo +30”
10) Steve Cummings (GBR) – MTN-Qhubeka +32”
Selected others
12) Geraint Thomas (GBR) – Team Sky +33”
13) Alex Dowsett (GBR) – Movistar +36”

General classification

1) Rohan Dennis (AUS) – BMC Racing – 14.56
2) Tony Martin (GER) – Etixx-QuickStep +5”
3) Fabian Cancellara (SUI) – Trek Factory Racing +6”
4) Tom Dumoulin (NED) – Giant-Alpecin +8”
5) Jos van Emden (NED) – LottoNL-Jumbo +15”
6) Jonathon Castroviejo (ESP) – Movistar +23”
7) Matthias Brandle (AUT) – IAM Cycling – ST
8) Adriano Malori (ITA) – Movistar +29”
9) Wilco Kelderman (NED) – LottoNL-Jumbo +30”
10) Steve Cummings (GBR) – MTN-Qhubeka +32”
Selected others
17) Rigoberto Uran (COL) – Etixx-QuickStep +40”
18) Thibaut Pinot (FRA) – FDJ +41”
20) Tejay van Garderen (USA) – BMC Racing +42”
22) Vincenzo Nibali (ITA) – Astana +43”
39) Chris Froome (GBR) – Team Sky +50”
43) Alejandro Valverde (ESP) – Movistar +56”
46) Alberto Contador (ESP) – Tinkoff-Saxo +58”
57) Nairo Quintana (COL) – Movistar +1.01
125) Joaquim Rodriguez (ESP) – Katusha +1.26
145) Romain Bardet (FRA) – FDJ +1.34