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In 1859 a Belgian engineer Jean Joseph Étienne Lenoirdeveloped the first internal combustion engine. It was a single-cylinder two-stroke engine which burnt a mixture of coal gas and air ignited by a spark-ignition system. He patented it in 1860.

Nicolaus Otto invented a gas motor engine in 1876. He built the first practical four-stroke internal combustion engine, called the "Otto Cycle Engine", and built it into a motorcycle.

Otto's patent was later revoked when it was contested by Beau de Rochas.
Jean Joseph Étienne Lenoi
American engineer named George Brayton made the first petrol engine. It was a two-stroke kerosene engine.
Nicholas Joseph Cugnot really invented it in 1769.

Neither Daimler nor Benz did, they just invented highly successful and practical gas-powered automobiles that ushered in the age of modern motor vehicles.

Another answer

Nicolaus Otto invented a gas motor engine in 1876. He built the first practical four-stroke internal combustion engine, called the "Otto Cycle Engine", and built it into a motorcycle.

Otto's patent was later revoked when it was contested by Beau de Rochas.
Petrol engine was invented by nikolaus Otto
A German guy named Karl Benz. He formed the company that exists today as Mercedes-Benz.

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