Which prince of Moscow led the Russians to freedom from the Mongols?

By the latter part of the century, Moscow felt strong enough to challenge the Tatars directly, and in 1380 a Muscovite noble named Dmitri Donskoy had the audacity to attack them. His decisive victory at Kulikovo Field immediately made him a popular hero, though the Tatar retaliation two years later maintained their rule over the city. It wasn't until 1480, after another century had passed, that Moscow was strong enough to throw off Tatar rule for good. Its ruler at that time was Grand Duke Ivan III, better known as Ivan the Great