Accompanied by senior Yamaha management, Rossi attended the gala dinner and ball on Saturday evening, before his Goodwood motorsport activities began the following morning.
After unveiling a special yellow-liveried YZR-M1 - to commemorate Yamaha Motor's 60th anniversary - alongside Kenny Roberts, Giacomo Agostini and Phil Read, The Doctor delighted thousands of spectators when he rode the 1.16-mile Hillclimb course at 11:40 am.
After the ride there was more excitement for the fans as Rossi deviated from the normal route back to the pits and instead rode to Lord March's mansion, where he was interviewed on the balcony. The Italian later joined Formula 1 driver Nico Rosberg for lunch.
Rossi concluded his first Goodwood experience by driving in a historical Le Mans-winner and rally car before heading home to start his preparations for the German Grand Prix in two weeks' time."It's been an incredible weekend. I was barely off the podium before immediately heading to the United Kingdom, but I'm very happy that I got to attend the Festival of Speed at Goodwood, it has been a real pleasure!" Rossi said.
"I knew about the event because I saw videos of it, but I had never been there before and it's even more impressive than I imagined. It is a very large venue and there were many fans but also lots of famous riders, drivers and other VIPs which gave it a great atmosphere, especially when I rode my Yamaha YZR-M1 up and down the hill.
"I revealed my bike's special Yamaha Motor 60th anniversary livery earlier this morning together with Giacomo and Kenny. For Yamaha Motor to be a part of motorsport history for so long and to have achieved so many accompl ishments is very special and something to be proud of.
"At the end of the day I also got to drive a historic Le Mans car and also a rally car, which was great fun as well. I want to say a big thank you to Lord March for inviting and hosting me at this year's event. I had a great time and made memories I will never forget!"
Takaaki Kimura, Yamaha Motor executive vice president, added: "Seeing the spectators cheer as Valentino rode on a yellow Yamaha YZR-M1 MotoGP bike once again was a magical moment, and I'm sure it has left a lasting impression on everyone."
Rossi, fighting for a tenth world title in his 20th season of grand prix racing, holds a 10-point advantage over team-mate Jorge Lorenzo after 8 of 18 rounds.
Retired MotoGP champion Casey Stoner also attended this year's Goodwood event.
