At tea on day three, Lancashire are 21-0, with Tom Smith on 15 and Haseeb Hameed on six, after Yorkshire established a commanding position.
The hosts, who began the day on 77-3 in their second innings, a lead of 189, achieved a final score of 236, Liam Plunkett top-scoring with 57 from the No.9 position and Adil Rashid contributing 34.
The pair added 74 for the eighth wicket in 23 overs to lift Yorkshire from 130-7 after they had earlier slipped to 89-6.
Neil Wagner was the most successful Lancashire bowler with 4-71, giving him match figures of 8-146.
But Lancashire face an uphill task to achieve what would be the seventh-highest winning score against Yorkshire in a first-class game.