The 55-year-old Mini driver, aided by co-pilot Edouard Boulanger, finished 14min 51sec ahead of Qatari Nasser al-Attiyah (Toyota), with Spain's Carlos Sainz rounding out the podium in another Mini.
Cherpin, who was competing in his fourth Dakar Rally, was found unconscious after his crash and taken to hospital in Sakaka before he was airlifted to Jeddah.
Hero MotoSports rider CS Santosh cleared to return to India following crash but remains under observation
The 37-year-old Santosh, who was representing the two-wheeler manufacturing giant in one of the world's biggest rallies, suffered a crash last Wednesday and was airlifted to a hospital in Jeddah.
Santosh, 37, who represents Hero MotoSports in one of the world's biggest rallies, has been sedated and is under 24-hour observation. His next set of scans are due this evening, and chances of a clot or a concussion cannot be ruled out.
India's ace off-road racer CS Santosh writes on his reflections from 2020, his preparations for Dakar 2021, and how he changed as a person.