While under caution during the mid-stages, Sprint Cup regular Denny Hamlin pitted from the lead for fuel and new tires, allowing Peters to take the top spot for the first time in the 200-lap race. The 29-year-old driver conserved enough fuel to lead the final 84 laps and pick up his first victory in his 64th Truck Series start.

"What an awesome way to do this," a jubilant Peters said.

Peters joined Bobby Hamilton (2000), Scott Riggs (2001), Jamie McMurray (2004), Bobby Labonte (spring 2005) and Ricky Craven (fall 2005) as those drivers who scored their first win in the series at Martinsville.

Todd Bodine finished second, and Colin Braun was third.

Ron Hornaday Jr. came in fourth and widened his lead to 224 points over Matt Crafton.

"Good points day, and we'll take that and get out of Martinsville and go to Talladega," Hornaday said.

Talladega is the next track on the schedule on October 31.

Hornaday has yet to win at the flat 0.526-mile track. His points margin is the largest in series history with four races remaining. Hornaday is looking to clinch his record fourth series title.

Kevin Harvick finished fifth despite falling two laps behind early due to a pit-road speeding violation and a cut tire. Harvick won the spring race here in March. Hornaday and Mike Skinner also were penalized for driving too fast onto pit road.

Hamlin, Dennis Setzer, David Starr, Crafton and Terry Cook completed the top-10.

Skinner, the pole sitter, ended up finishing four laps down in 23rd.