[6] At the start of the 2020 season, and prior to the COVID-19 pandemic-enforced suspension of racing, Martínez won his second consecutive title at the Colombian National Time Trial Championships,[7] and was second to teammate Sergio Higuita in the Tour Colombia, winning the final stage.

[8] Martínez won the Critérium du Dauphiné in August, moving from fifth to first on the final day with a second-place stage finish to Sepp Kuss.

[14] To begin the 2022 season he won a record-equalling third Colombian National Time Trial Championships, and finished in third place overall at both the Volta ao Algarve and Paris–Nice.

[22] He grew stronger by the end of the race and was joined with Wout van Aert and Thibaut Pinot as the final breakaway riders on Hautacam.

At the end of the 2023 season it was announced that Martinez would leave the Ineos Grenadiers to join German pro team Bora–Hansgrohe[24] for an unknown contract duration.

Ahead of the start of the 2024 Giro d'Italia, Bora-Hansgrohe announced that Martinez would be their leader in the General classification,[25] selecting him over fellow rider Emanuel Buchmann.