He bought the yellow, 186mph car for about £8,000 in 1972 on the back of hit single Maggie May and number one album Every Picture Tells a Story.
The supercar sparked a bidding frenzy at the Bonhams’ Goodwood Revival sale in Chichester, West Sussex, before raising £919,900.
A 1935 Alfa Romeo racing car went for £5,937,500 – a world record for an Alfa Romeo at auction.
The Lamborghini is one of only seven right-hand drive Miura SVs ever made and was delivered new to Stewart.
Tim Schofield, of Bonhams, said: “It is the last of the line. It’s in near perfect condition.”