Indian batsmen played for the entire fifth day as they posted 391 for nine on the scorecard.
It was debutant Stuart Binny, who played a fighting knock of 78 runs on the final day of the test match.
He hit eight boundaries and a six in his knock.
Binny and Bhuvneshwar Kumar (63) added 91 runs eighth wicket partnership on the day.
Resuming the day from 167 runs for the loss of three wickets, India lost few quick wickets as the match was seen fast sleeping from their hands.
India were reduced to 184-6, taking a lead of just 145.
Binny's composed 78 along with Ravindra Jadeja (31) and Kumar prevented the tourists from tasting defeat.
In an interesting finish, England captain Alastair Cook picked up the wicket of Ishant Sharma (13) as the match ended in a draw. Cook picked up his first Test wicket.
Moeen Ali picked up three wickets for the hosts.
Brief scorecard:
India 1st innings 457 all out (M Vijay146; J Anderson 3-123)
England 1st innings 496 all out (J Root 154 no; B Kumar 5-82)
India 2nd innings 391 for nine (S Binny 78; M Ali 3-105)
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