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Mitchell Santner's last-ball six sealed the sixth victory of the season for Chennai Super Kings, as the table-toppers recovered from 24-4 to pull off a dramatic four-wicket win over Rajasthan Royals.

The victory was also MS Dhoni's 100th win as a captain in the IPL. Dhoni (58 off 43) was instrumental in reviving Chennai's chase along with Ambati Rayudu as they chased down their target of 152.

Ben Stokes' last over, who was defending 18, witnessed Dhoni losing his cool as he argued an umpiring call after storming on to the field. Dhoni was bowled by Stokes from the third ball of the final over to leave Chennai needing eight runs.

Jadeja smashed a six off the first ball of the over before Stokes overstepped on the next ball, but the free-hit only cost two. Stokes bounced back on the next ball to remove Dhoni with a yorker.

Santner then faced a full toss from Stokes that seemed above waist height and the umpire stuck out his hand to signal a no-ball that was over-ruled by his officiating partner at square leg.

A furious Dhoni walked out to the field and got into a heated exchange with the umpires as Stokes tried to pacify the situation.

Santner, though, kept his nerves amid the fiasco to hit Stokes' last ball for a six over long-on to seal the victory.

"They (Rajasthan) were able to build up the pressure right till the end. Once you win games like these, you are able to take a lot," Dhoni said after the game.

"But it's important to work on the negatives that have not gone well, while enjoying the win. Otherwise, it can come back to hurt us later in the tournament."

With Chennai reeling at 24-4, Dhoni put up a 95-run stand with Rayudu (57 off 47) for the fifth wicket to set up the chase.

Rayudu fell in the 18th over and with 30 needed from the last two overs, Dhoni dragged his team to a winning position.

Earlier, Chennai bowlers combined to keep down Rajasthan to 151 for seven. Deepak Chahar, Shardul Thakur and spinner Ravindra Jadeja took two wickets each as none of the Royals batsmen could break free.

The match also witnessed a moment of fielding brilliance from Stokes who took a stunning catch at backward point to remove Kedar Jadhav (1) off Jofra Archer.