Warwickshire resumed with Jon Trott and Jeetan Patel batting this morning. The ninth wicket stand between the pair finally ended when Patel was caught by Anthony McGrath for 120. It was a stand of 233 and is a new record for Warwickshire.
Boyd Rankin was out for a duck and Warwicks were all out for 482, some 118 runs behind Yorkshire's first innings.
The visitors had Sayers caught by Tim Ambrose for 14, Jack Rudolph caught by Frost for 30 and Brophy bowled lbw by Rikki Clarke for a duck before they declared at tea on 162-3.
This left Warwicks needing 291 runs to win in the final session of the match.
Tony Frost was out in the third over for only five runs but Ian Bell (30 not out) and Ian Westwood (19 not out) steered Warwicks through to a draw.
Tomorrow, Warwicks travel to Canturbury to face Kent in a Friends Provident game. Play is due to start at 10.45pm.