Antonelli initially looked set to deliver on the pre-race expectations and dominate comfortably at the front following his impressive pole position on Saturday.
Clever driving on the first lap solved his concerns about being passed on the run up the hill to Les Combes, when he let Verstappen past him into Eau Rouge and then slipstreamed back into the lead up the following Kemmel straight.
Behind him, Russell went into Les Combes side by side with Hamilton, trying to pass the Ferrari around the outside.
Russell was ahead going into the corner, but a wobble from Hamilton caused by the airflow to his front wing being disrupted by the fighting Antonelli, Verstappen and Leclerc in front of him, meant he tagged the Mercedes, which spun into the gravel trap and into retirement.
An emotional Russell said: “I came out of Turn One, for whatever reason I was 30-40% down on my battery. I just totally got swamped up by three cars.
“Incident with Lewis, I have not really seen it. But I thought probably a racing incident. I am not going to blame Lewis. If things were normal, I would have been battling with Lewis, battling with Kimi and Max.
“It is one thing after another, after another, after another. Not good enough on all regards so try and reset again. I’ve done it enough times this season and I’ll see what we can do.”
Antonelli measured his pace carefully in the opening stint, looking after his tyres, until being told to speed up as his pit stop loomed.
Over the course of lap 17, he demonstrated how much pace he had in hand when he extended his lead over Verstappen from 2.3 seconds to 3.5, before pitting on the following lap.
Two laps later, though, a virtual safety car (VSC) period for some debris on track gave Leclerc a cheap pit stop – it costs nearly half as much race time to stop under a safety car than under green-flag conditions – and Leclerc was able to stop for fresh tyres and rejoin still in front of Antonelli.
Norris by this point was in the lead, but Leclerc soon passed the McLaren on lap 26, and it was now a question as to how long it would take Antonelli to close the three-second gap to the Ferrari.
Antonelli was on his tail eight laps later and passed the Ferrari up the Kemmel straight on lap 34.
Leclerc was able to stay with Antonelli, whose lead never went over two seconds, and there was extra pressure from the fact the Mercedes driver was on the cusp of a five-second penalty for exceeding track limits too many times.
But Antonelli calmly kept things under control to cross the line just under two seconds ahead and retake control of the championship.
It was his first win since Monaco in early June, after a retirement in Spain, a third in Austria and a finish out of the points at the British Grand Prix.
