It was a fight which went down to the very last lap of the final race, decided by a controversial call from then-race director Michael Masi that gifted Verstappen a dramatic victory and his maiden championship title.
However beyond the on-track battle, the rivalry between Verstappen and Hamilton extended to a fascinating psychological battle.
'Mind games' emerge in Verstappen-Hamilton rivalry
Former performance coach for Max Verstappen, Brad Scanes has shed light on this aspect of the competition in a recent interview on the Sky Sports F1 Podcast.
Scanes, who witnessed the intensity of the Verstappen-Hamilton fight firsthand, spoke about the 'mind games' that became a natural part of their rivalry.
"As someone in sport, working in sport, I consider myself extremely lucky to be a part of that season," he said.
"We just witnessed two of the best go at it head-to-head, neck and neck, and you don't often get that opportunity.
"It's the little things they'll try and do to get one over each other. In the cool down room after a race, who could be the longest to get ready and take the most time.
"And it's those little mind games that those two were playing with each other."