That incident saw Vettel hit with a 10-second stop and go penalty for risky driving, although it didn't prevent him from finishing in fourth place ahead of Hamilton to maintain a 14-point lead in the Drivers' Championship.
First his teammate Max Verstappen retired with engine problems, then Daniil Kvyat parked his Toro Rosso, prompting a safety vehicle which would eventually see Vettel and Hamilton collide behind it.
Hamilton said: "For him to pretty much get away with driving into another driver is a disgrace". "A multi-world champion should behave better than that. Still not flawless, and I think that if you can switch them on, you can go a lot faster". "That's not how you drive". Championship leader Sebastian Vettel drove his Ferrari cautiously and finished the hard session a lowly 12th.
Immediately after the clash, Vettel shouted over the team radio: "He brake tested me. It couldn't be clearer, it's as clear as blue skies", he said. "Some people don't like to own up to their own mistakes".
Bottas led qualifying and set an even quicker time on his final lap, only for Hamilton to beat him by almost half a second.
Although they have both been racing in F1 since 2007 this is the first year in which they have both had competitive cars.
For Stroll, it is the first time he has outqualified team-mate Massa.
"Today wasn't fair play". What we have seen today is the ingredient of a great championship. "Tomorrow can be a different story and I think the race pace should be a lot closer".
Lewis Hamilton accused Formula One rival Sebastian Vettel of disgracing himself and deliberately driving into his vehicle as a bitter clash between the world championship rivals dominated Sunday's Grand Prix in Azerbaijan.
Lewis Hamilton has since spoken to the written media and suggested Sebastian Vettel's move was deliberate.
The flashpoint came as Hamilton bunched the pack up ahead of a safety auto restart which caught Vettel out and saw him run into the back of the Mercedes.
It appeared Hamilton had done nothing untoward, but the German was clearly irate and pulled alongside the Mercedes, waving an arm, before turning into his auto.
Hamilton topped Q2 ahead of Bottas and Vettel.
"The stewards looked at my data", Hamilton said.
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"If I get a penalty then we should both get a penalty", the German driver said.
"He did something similar a couple of years ago in China at the restart. It's just not the way to do it".
Vettel was given a 10-second stop-go penalty, but Hamilton lost valuable time changing a loose headrest at the same time that Vettel served his time penalty.
Vettel was in no mood to take the blame, however.
And, before celebrating with a customary "shoey", Ricciardo reflected on an incident-packed race.
It was an extraordinary performance from Stroll, the son of a billionaire, who faced heavy criticism earlier in the season.
We want to race wheel to wheel, but not when it is a restart. "Obviously I was going for the pole and just the lap in the end wasn't flawless".
Though he improved his time in the burst of 3 minutes and 33 seconds that remained, he was undone by Hamilton's stunning lap to trail by 0.434 seconds.
But Bottas had to pit on the second lap for a new front wing, dropping to last, while Raikkonen complained of damage to the rear of his vehicle.
In the last race in Canada, which Hamilton went on to win, the British driver drew level with his idol Ayrton Senna on 65 poles.
On the Baku City Circuit there are several big braking points, but the long home straight expels all temperature gained, making it very easy to lock a car's brakes and end up with a flat-spotted tire.
Ricciardo's Red Bull team mate Max Verstappen, the pacesetter during practice on Friday, was forced to retire for the fourth time in the last six races with engine trouble on lap 11 after he attempted to attack Perez and take third.
After the race Vettel told reporters: "Nothing happened, did it?"