The 29-year-old German – who won his second successive race this season – came home in his Mercedes ahead of compatriot Sebastian Vettel in a Ferrari with long-time leader and Mercedes team-mate Lewis Hamilton third.
Senna won five successive Monaco Grand Prix from 1989-93.
Hamilton had taken the pole position Saturday for the for the first time in his career in convincing style, beating Mercedes team-mate Nico Rosberg by 0.342 seconds, with Ferrari’s Sebastian Vettel third.
Hamilton was thrilled to finally achieve pole, having been beaten here by Rosberg for the last two years.
The Englishman was defeated by Rosberg in the last race in Spain and heads into Sunday’s race 20 points clear of the German in the drivers’ championship, with Vettel a further 11 behind.
But the race did not go along with what was expected as Hamilton homed in third, behind Vettel and Rosberg.