The battle for the title had been one of the most eagerly anticipated contests ahead of the Championships, with Australia, New Zealand and reigning Olympic champions Britain all standing a strong chance of topping the podium.

New Zealand’s hopes of defending their world title came to a premature end, after they finished 6.251 seconds adrift of the Australian quartet of Sam Welsford, Luke Davison, Michael Hepburn, Miles Scotson in the first round.

It set up a repeat of the London 2012 Olympic final, as Britain’s team of Steven Burke, Owain Doull, Andy Tennant and Sir Bradley Wiggins had posted a time of 3min 54.267sec to end the hopes of Italy, who had broken a national record in qualifying yesterday.

The Australian team made one change to their line-up for the final with Callum Scotson replacing Davison, while Tennant and Burke made way for Britain, who freshened up their line up with Jonathan Dibben and Ed Clancy.

The latter had recently returned from back surgery but could not prevent the Australians from building a half-second advantage by the halfway stage of the four kilometre event.

Buoyed by the home crowd and inspired by Sir Bradley, the 2012 Tour de France winner and a four-time Olympic gold medallist, the British team clawed their way back into the race and headed into the final lap narrowly ahead.

The hosts were to be denied, however, after their efforts faltered on the final lap with Australia winning in a national record time of 3:52.727, while Britain crossed the line in 3:53.856.

The closely fought contest will further raise excitement of a potential clash between the two countries at Rio 2016 later this year, where Britain’s world record of 3:51.659 could come under considerable threat.

Having set the third and fourth fastest times in the first round earlier in the day, Denmark and Italy battled for the bronze medal, the former securing the final podium spot in a time of 3:55.936.

Britain’s defeat in the men’s final was their second team pursuit heartbreak of the day after their women’s team failed to qualify for the gold medal ride at the Championships for the first time.

Their team split midway through the event as Ciara Horne and Joanna Rowsell were unable to maintain the pace of Laura Trott and Elinor Barker, resulting in the team positing the fifth fastest time of 4:21.054.

The quartet could still have a chance of a bronze medal tomorrow, but it is the American team of Sarah Hammer, Kelly Catlin, Chloe Dygert and Jennifer Valente who will begin as the favourites for the gold medal after finishing four seconds clear of their nearest challengers Canada in 4:16.180.

They will meet Australia in the first round and Canada are now due to take on New Zealand.

Double Olympic champion Trott was able to put the team pursuit disappointment behind her to claim a stunning gold medal in the women’s 10km scratch race.

It was the sixth world title of her career for the 23-year-old. 

With two laps remaining a victory for the Briton had looked  unlikely as she was nearly half-a-lap down on the leading pack only late surge to see her beat The Netherlands’ Kirsten Wild and Canada’s Stephanie Roorda in the sprint to the line.

It was Germany, though, who enjoyed the greatest success on the second day of the Championships, with their sprinters securing double gold.

Kristina Vogel starred in the women’s keirin as the 25-year-old produced a powerful performance to regain the world title she last held in 2014, finishing 0.078 ahead of Australia’s sprint legend Anna Meares.

Britain’s Becky James continued to step up her preparations for Rio 2016, with a knee injury and cancer scare having disrupted her last two years, as the 2013 world champion secured the bronze medal.

Vogel’s success followed a triumph for Joachim Eilers in the men’s kilometre time trial, the German adding to his bronze medal in yesterday’s team sprint.

The Netherland’s Theo Bos had looked set to secure his first world title since 2007 after posting a time of 1:00.461 but saw gold snatched away by the final rider to take to the track as Eilers clocked 1:00.042.

France’s Quentin Lafargue completed the podium in a time of 1:01.581.