We will prove that $F'(x)=g(x)$. Until then, we need the following:
Lemma 1: $\forall c,d\in[a,b]$ we have $\int_c^df(x)dx\leq G(d)-G(c)$.
Proof: Let $\Delta=(c=x_1<x_2<...<x_n=d)$ a division of $[c,d]$. Then as you noticed $G(d)-G(c)=\sum\limits_{k=1}^{n-1}G(x_{k+1})-G(x_k)\overset{MVT}{=}\sum_\limits{k=1}^{n-1}(x_{k+1}-x_k)g(c_k)\geq \sum\limits_{k=1}^{n-1}(x_{k+1}-x_k)\inf\limits_{x\in[x_{k},x_{k+1}]}f(x)=s_{\Delta}$
where $s_{\Delta}$ is the lower Darboux sum correponding to the division $\Delta$.
Hence $G(d)-G(c)\geq\sup\limits_{\Delta}s_{\Delta}=\int_c^df(x)dx$.
$\square$
Now, let $F(x)=\int_a^xf(t)dt$.
Then $G(b)-G(a)=G(b)-G(c)+G(c)-G(a)\leq F(b)-F(c)+F(c)-F(a)=F(b)-F(a)=G(b)-G(a)$, therefore $F(c)=G(c)-G(a)\Rightarrow F'(x)=g(x),\forall x\in[a,b]$, as stated.
Let's prove one more lemma before finishing the proof
Lemma 2: $\sup\limits_{z\in[c,d]}g(z)\leq\sup\limits_{z\in[c,d]}f(z)$.
Proof: This lemma is based on the following observation:
$\frac{F(x)-F(y)}{x-y}=\frac{1}{x-y}\int_y^xf(t)dt\leq\sup\limits_{z\in[c,d]}f(z)$, for any $c\leq x<y\leq d$. Hence $g(x)=\lim\limits_{y\to x}\frac{F(x)-F(y)}{x-y}\leq\sup\limits_{z\in[c,d]}f(z)\Rightarrow\sup\limits_{z\in[c,d]}g(z)\leq\sup\limits_{z\in[c,d]}f(z)$, as claimed. $\square$
Let $\varepsilon>0$ and $\Delta=(a=x_0<x_1<...<x_n=b)$ a division for which $S_{\Delta}(f)-s_{\Delta}(f)<\varepsilon$.Then $S_{\Delta}(g)-s_{\Delta}(g)=\sum\limits_{i=0}^{n-1}(\sup\limits_{x_i\leq z\leq x_{i+1}}g(z)-\inf\limits_{x_i\leq z\leq x_{i+1}}g(z))\leq\sum\limits_{i=0}^{n-1}(\sup\limits_{x_i\leq z\leq x_{i+1}}f(z)-\inf\limits_{x_i\leq z\leq x_{i+1}}f(z))=S_{\Delta}(f)-s_{\Delta}(f)<\varepsilon$
This entails that $g$ is Riemann integrable. $\square$