[10] In July 2015, Pendragon were scheduled to perform at Night of the Prog in Germany and Ramblin' Man Fair United Kingdom together with acts like Neal Morse and Scorpions but due to commitments for the Steven Wilson tour, Craig Blundell was unable to appear with the band so recommended Vincent to stand in for him for these 2 shows.

[11] Later that year, both Pendragon and Craig decided that Velazco would become the new permanent drummer for the band[12] and in 2016 they announced a string of European headline shows in Germany, France, Netherlands, Switzerland, Italy, Austria, Poland, Belgium and the UK[13] with support from John Young of Lifesigns/Bonnie Tyler.

[14] Whilst in Pendragon, Velazco has played alongside Dream Theater, Marillion, Scorpions, Pain of Salvation, Steve Hackett, Blue Öyster Cult, Saxon, FM, Anathema, Gregg Allman and Camel and has also toured Europe, Japan and North America.

In 2018, Velazco recorded the albums Men Who Climb Mountains and The World as part of Pendragon's fortieth anniversary booklet which included a live CD from their sold out European tour.

They performed the newly released album "Risen" plus some classics like "Juke Joint Jezebel" which was KMFDM’s biggest hit and was featured on films Bad Boys, and Mortal Kombat (1995) soundtrack.