It completed a remarkable three weeks for Pogacar, making his Tour debut and riding only his second Grand Tour after third place in the Vuelta a Espana - won by Roglic - a year ago.
It will be a first Grand Tour victory for Slovenian Pogacar, who took the yellow jersey from compatriot Roglic after he had held it for 13 days.
Bennett launched his sprint early and looked like he might be overhauled by the hard-charging Pedersen, but he would not be denied in the race all sprinters want to win the most.
"I can't find the words to thank everyone, but it's been unbelievable this three weeks where the fans cheered me all the way", said Pogacar.
Dressed in green, Bennett lifted his bike aloft after the race, which provided his second stage win.
I feel happy at the moment with my team.
Peter Sagan took third place ahead of Alexander Kristoff and Elia Viviani.
First and foremost, for Pogacar, who left the race breathless by snatching away the overall lead from Slovenian countryman Primoz Roglic at the last possible opportunity, in a high-drama time trial on Saturday, the penultimate stage with the last real racing for the title.
Sunday's finish into on the Champs-Elysees is traditionally contested by sprinters from each team, with Ireland's Sam Bennett holding a big lead in the battle for the green points jersey over seven-time victor Peter Sagan of Slovakia.
The ensuing fight cost Bennett energy he might have saved for sprints, but he ultimately had enough for an emotional victory on the cobbles of the Champs-Elysees.
"All that suffering during the mountains, so worth it now".
The birth of the Pogacar supernova is now set to ripple across the cycling galaxy for years to come. It took me so long to get here. During the time trial I felt that I was going strong and this spurred me even more.
Their continued efforts kept Pogacar safe and enabled him to perform to the best of his abilities.
Pogacar, who celebrates his 22nd birthday on Monday, is the youngest victor since 1904, sealing his triumph with a sensational performance in the mountain time trial on the penultimate stage. 'Even if I would have come second or last, it wouldn't matter, it would still be nice to be here but this is just the top of the top, I can not describe this feeling with words'. Today was very special, a special moment with my team-mates.
Dutch team Jumbo-Visma dominated the 2020 race with their yellow and black jerseys always grouped at the head of the race as they outpowered everyone until the last and crucial day. "This sport is really awesome".
As it turns out, it's thought a handful of riders themselves made a decision to wear masks with the Black Lives Matter slogan on before stage 21 yesterday, with no official backing from the organisers other than the above Tweet sent out yesterday.