Needing to get at least a draw from the match, Warwicks resumed their second innings on 111-2.
Five runs were added to the overnight total before skipper Ian Westwood was out for 58.
Ian Bell made 35, Jim Troughton 40, Tony Frost 48 and Tim Ambrose 33 as Warwicks were all out for 313.
Yorkshire ended on 30-0 and both sides took ten points from the match.
On Monday, Warwickshire travel to Northamptonshire in a Pro40 game. Play is due to start at 1.45pm.