Hampshire's lower order clung on bravely in the final session of a dramatic last day to deny Yorkshire victory at Headingley.
The hosts had declared their second innings on 165-8 after lunch, leaving their opponents requiring 289 runs to win off 59 overs.
Gerard Brophy finished up unbeaten on 37 after Yorkshire had suffered an early collapse, slipping from their overnight 62-3 to 87-6.
Kabi Ali claimed 4-43 but the seamer's most telling contribution on the day came with bat, not ball, as he combined with number 10 Danny Briggs to safely see out the final 44 minutes and rescue a draw for his side.
Hampshire had amazingly at one stage found themselves four wickets down with only seven runs on the scoreboard, England seamer Tim Bresnan (3-18) ripping through their top order with the new ball.
Sean Ervine and Dominic Cork put on a defiant 73 for the seventh wicket and although, Adil Rashid removed the pair, Yorkshire eventually ran out of time.
Yorkshire remain in a strong position at the end of day three of their clash with Hampshire, though the combination of three quick wickets and some bad weather hampered their progress at Headingley.
Ajmal Shahzad claimed 5-65 as the Tykes - who had made 355 in their first innings - knocked over their opponents for 232 in reply.
Hampshire had resumed in the morning on 189-6 but their lower order failed to put up much of a fight, the last four wickets going down for just 43 runs.
Having claimed four victims during day two, Shahzad completed his five-wicket haul - the first of his summer in the LV County Championship - when he dismissed Kabir Ali for 16.
However, Yorkshire's hopes of building on their 123-run lead were soon hit by the loss of openers Adam Lyth and Joe Sayers with only 22 runs on the board.
Joe Root also fell for 31 as the hosts laboured to 62-3 shortly after tea - only 3.2 overs were possible in the final session due to a combination of bad light and steady rain.
Ajmal Shahzad's four-wicket burst put Yorkshire in control against Hampshire on day two at Headingley.
England seamer Shahzad claimed 4-48 as the visitors closed on 189-6 in their first innings, still 166 behind.
Johann Myburgh, with 64, was the only Hampshire batsman to impress as Yorkshire's seam attack enjoyed themselves.
Shahzad was the standout performer but Ryan Sidebottom (1-35) and Tim Bresnan (1-29) also chipped in with a wicket apiece.
Bresnan, on 82 overnight, had earlier missed out on a century, edging behind off Kabir Ali (2-73) for 89 as Yorkshire were bowled out for 355, having resumed in the morning on 304-7.
Hampshire captain Dominic Cork took the final two wickets to finish with 5-75, though he soon saw his batsmen slump at the start of their reply.
Tim Bresnan marked his return to first-class action with an unbeaten half-century to help Yorkshire recover to 304-7 at stumps on day one against Hampshire.
The powerful all-rounder reached the close unbeaten on 82 as the White Rose fought back well from a morning collapse.
The home side's decision to bat first came into question at lunch when they slipped to 96-4, however Jonathan Bairstow maintained his rich vein of form with 83 to keep Hampshire at bay.
Bairstow, who smashed a career-best 205 against Nottinghamshire the previous week, came to the middle after openers Adam Lyth (2) and Joe Sayers (4), and captain Andrew Gale (15) had perished early.
The young gloveman cracked 13 boundaries before becoming Dominic Cork's third victim of the day shortly before tea.
At 205-7, Hampshire remained on top heading into the final session, however England team-mates Bresnan and Ajmal Shahzad (42no) ensured it was the home fans who departed the happier.