Marquez, entering his first season in MotoGP's premier class, made a rapid start to the first pre-season test when he finished within five hundredths of a second of Pedrosa's benchmark on the first day.
As Pedrosa improved over the next two days - his final day best of 2m00.100s was more than two tenths of a second under the 2012 qualifying record – Marquez largely matched his gains, finishing just over half a second shy of his vastly more experienced team-mate.
Pedrosa said Marquez's style and ability were instantly striking.
"I didn't share much track time with him - only two or three corners - but his style is really impressive," Pedrosa said of Marquez.
"He hangs off the bike a lot and has achieved great times so far.
"When he was here in November, he was also very fast."
Marquez had been third fastest, behind only Pedrosa and Jorge Lorenzo, on the opening two days.
He encountered his first blip when he crashed on the last morning, allowing Valentino Rossi to jump ahead of him on the timesheets.
Rossi too spoke of his admiration for Marquez's start to his maiden premier class campaign.
"The level is so high," he said. "Pedrosa and Lorenzo are incredibly fast, and also Marquez is unbelievable."