Sahara Force India picked up 23 points from the race with German Hulkenberg finishing sixth to grab eight points to add to Perez's 15.
The incident reversed the team`s fortunes after the Spanish Grand Prix where the two Mercedes drivers collided on the opening lap and gifted victory to debutant Dutch teenager Max Verstappen.
Red Bull`s Australian driver Daniel Ricciardo, who started on pole, came in second with Mexican Sergio Perez of Force India completing the podium.
The qualifying effort was Force India's best of the season so far.
His best lap in one minute and 13.622 seconds was enough to beat both Mercedes drivers comprehensively.
Tyre suppliers Pirelli`s introduction of a new `ultra-soft` compound for the special demands of the Mediterranean street circuit.
To endorse Red Bull`s revival, Ricciardo`s record-breaking teenager team-mate Max Verstappen was fourth-fastest just behind Rosberg.
Rosberg, winner for the past three years in the principality, was second fastest in 1:15.638 on the new ultrasoft tyres.
Bianchi, 25, died in hospital in his home town of Nice last July after suffering serious head injuries when he crashed into a recovery crane at Suzuka during the October 2014 race.
Championship leader Rosberg, 43 points clear of Hamilton after five of 21 races, remained cagey about what was said.
The seven-time Formula One world champion suffered traumatic injuries after hitting his head against a rock while skiing in Meribel, France in December 2013.
Championship leader Lorenzo made the most of the opportunity to claim his third win of the season and second in a row, to extend his advantage in the riders` standings over Honda`s Marquez to 10 points.
Rosberg is currently standing at the top of the championship table with a comfortable lead of 39 points over Ferrari`s Kimi Raikkonen.
Sunday`s incident put both out of the race, with the two drivers lining up on the front row of the grid and crashing into each other as they fought for the lead through the third corner of the opening lap.
It has been a memorable Test match. It has been very good right from the second day onwards when New Zealand were batting really well and me and Ashwin were chatting that it is going to be an exciting Test.