The home side resumed at New Road and were all out for 339. Neil Carter added the wickets of Arif and Harris to take his haul in the innings to six, whilst Chris Woakes took the other three wickets to fall including that of Vic Solanki for 91.
Carter finished with figures of 6-100 whilst Woakes recorded figures of 4-80.
In reply, Warwicks lost Darren Maddy for a duck after only two balls. Ian Wesrwood move the total onto 36 by hitting five boundaries before he was caught by Solanki.
Tony Frost had made 29 which included one six before he was run and he was followed by Jim Troughton for two to leave the score at 84-4.
Jon Trott kept plugging away as Ambrose and Woakes lost their wickets. Trott reached his half century but Ian Salisbury was out for 48 to leave Warwicks on 203-7.
Neil Carter only made twelve before he was caught and bowled by Arif. Rankine made eight and Martin was out for a duck, leaving Trott 88 not out and Warwicks all out for 251 in 62.5 overs.
Meanwhile, Lee Daggett will join Leicestershire after being released by Ashley Giles.