Cavendish was able to outpace the rest of the field on his way to the 27^th stage win of his career.

The 31-year-old Dimension Data rider crossed the line in front of Germany’s Marcel Kittel of the Etixx - Quick-Step team and Peter Sagan of Slovakia, who competes for Tinkoff Saxo.

Two-time winner Alberto Contador of Spain endured a tough outing on the 188 kilometres route from Mont Saint-Michel to Utah Beach.

The Tinkoff Saxo rider suffered a nasty crash 81km from the finish as he slid off the bike on a right-hand corner and required medical attention.

The Spaniard, the 2007 and 2009 champion, managed to complete the race in the peloton but the extent of his injuries remains to be seen, potentially denting his chances of overall victory.

Defending champion and Cavendish’s compatriot Chris Froome, the Team Sky rider who is bidding to become the first man to seal consecutive Tour de France titles in 20 years, finished in 25^th position during the sprinter-friendly first stage.

Colombia's Nairo Quintana and Italy’s Fabio Aru - of the Movistar and Astana teams respectively - are expected to challenge for the title and both ended the stage without any issues.

“To pull on the yellow jersey is an honour,” Cavendish told ITV4.

"It's going to be a special day tomorrow.

“It's phenomenal,"

“It was a big goal.

“We came here with the hope of doing it and we wanted this.

"There is no bigger icon in cycling than the yellow jersey - I'm quite emotional."

Tomorrow’s stage comprises of a hilly 182km route from Saint-Lô to Cherbourg-Octeville.

Today’s stage will be one of seven potential sprint stages, while two individual time trials will also take place during the race, which is due to draw to a close on July 24.

It will conclude less than a fortnight before the Rio 2016 men’s Olympic road race event, which will start at the Copacabana Beach.