For 1970 Pescarolo was signed full-time by Matra for their Formula One team and once again as team-mate to Beltoise, put in a solid season with a third place at the Monaco Grand Prix being the high point. He also won the Paris 1000 km and Buenos Aires 1000 km sports car races partnered with Beltoise. Pescarolo was not retained by Matra, and in 1971, 1972, and 1973 with Motul sponsorship, he drove for the fledgling Formula One team run by the young Frank Williams, but with little success. In 1974, Pescarolo drove for BRM, again with Motul backing, but the team's best days were gone and a ninth place in Argentina was his best result in a season with many retirements.