The hosts lost their last seven wickets for 36 runs after lunch, collapsing from 61-3 to 97 all-out.
Jordan Thompson and Duanne Oliver were Yorkshire’s heroes with the ball.
Thompson took 3-6 from five overs and Oliver 3-29 from 10, the pair receiving excellent support from Jack Shutt (2-14), Dominic Leech (1-20) and Steve Patterson (1-27).
Ben Duckett’s 19 was the top score for Notts, who are now winless in 24 first-class matches dating back over two years.
Yorkshire have won both of their opening games in the Bob Willis Trophy and meet Derbyshire, the only other side in the North Group with a 100 per cent record, at Headingley in their next match, starting on Saturday.
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