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FORT WORTH, Texas—Jimmie Johnson continued his recent domination of NASCAR Sprint Cup Series races at Texas Motor Speedway Saturday night, rallying after a late pit stop for a victory in the 19th annual Duck Commander 500.

Johnson, the six-time NSCS champion, took the lead on Lap 321 of the scheduled 334 when he drove under and past Jamie McMurray and Kevin Harvick exiting the dogleg of TMS’ high-banked, 1.5-mile quad-oval. The final 14 laps featured a battle between Johnson and Harvick, the reigning NSCS champion, who finished second despite scraping the Turn 4 wall on Lap 331.

Johnson, driver of the No. 48 Lowe’s Pro Services Chevrolet SS, finished 1.107 seconds ahead of Harvick and his No. 4 Budweiser/Jimmy John’s Chevrolet SS. Johnson, of Hendrick Motorsports, posted his 72nd career victory in 478 NSCS starts and seventh for team-owner Rick Hendrick.

“The end of the race was nutty,” said Johnson, who said he woke up sick...