Deshmukh, who had held the seat for two consecutive terms, was bitter after he was denied a ticket in favour of Shekhawat and had contested as an independent.
Early trends had shown Shekhawat trailing behind Deshmukh, giving tense moments to Congress managers in the state and in Delhi.
In Osmanabad, Omraje Nimbalkar of the Shiv Sena defeated Nationalist Congress Party (NCP) candidate Jagjitsinh Patil.
Patil is the son of Padamsinh Patil, the murder accused NCP MP from Osmanabad, who is accused of killing Nimbalkar's father Pawanraje Nimbalkar five years ago and is currently out on bail.
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