The Brazil international opened the scoring in the 34th minute after taking a Jude Bellingham pass in his stride to beat the offside trap and firing an unstoppable strike past goalkeeper Sergio Herrera.
Bellingham recovered his scoring instinct by netting his first goal of the season with a brilliant finish eight minutes later, lobbing the ball over the goalkeeper to extend Real's lead.
Vinicius wrapped up the home side's win with strikes in the 61st and 69th minutes, helping second-placed Madrid climb to 27 points, six behind leaders Barcelona. Osasuna are fifth on 21 points.
Madrid's day was blemished by the injuries to Ćder MilitĆ£o and Rodrygo, both of whom went off in the first half. Lucas VĆ”zquez too was replaced at half-time with an apparent knock to compound Madrid's injury woes.
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