Following a medical examination, Pidcock was ruled out of the remainder of the race, which concludes on Sunday.
Team doctor Lorenz Emmert said: “He suffered injuries as a result of the accident, most likely bone and ligament damage to his right knee and right wrist.
“Unfortunately we had to take the decision to withdraw him from the race. Further clinical assessment and imaging will be carried out in the following days.”
Pidcock won Milano–Torino and was second in Milan–San Remo by world champion Tadej Pogacar this month.
“We did everything we could to try to get to the start (of stage six), but it just wasn’t possible,” said Pidcock, a two-time Olympic cross-country mountain bike champion.
“I fought to finish the stage yesterday to make sure I had the option to continue. The focus now is on recovery, and I will be back.”
Team Visma–Lease A Bike’s Vinggaard won the stage by 51 seconds to extend his lead in the general classification to 57 seconds.
