Resuming at 555 for eight, India persisted with the old ball using off spinner R Ashwin and medium pacer Jasprit Bumrah in the attack.
However, the third new ball was taken in the 186th over and Bumrah struck off the first ball trapping Dom Bess (34, 105 balls, 6x4) in front.
Bess added 42 in 101 balls with left hander Jack Leach for the ninth wicket.
The England innings should have folded in the next over, but Leach, after stepping out to Ashwin and clobbering him over the long on, attempted a similar shot of the next ball, but keeper Rishabh Pant missed a straight forward stumping chance.
However, Ashwin wrapped up the innings, when last man James Anderson missed a slog sweep and the ball rattled the stumps.
For India, Bumrah and Ashwin picked up three wickets each, while Ishant Sharma and Shahbaz Nadeem claimed two each.
Following is the scoreboard:
England (first innings):
Rory Burns c Rishab Pant b R Ashwin 33
Dom Sibley lbw Jasprit Bumrah 87
Dan Lawrence lbw Jasprit Bumrah 0
Joe Root lbw Shahbaz Nadeem 218
Ben Stokes c Pujara b Shahbaz Nadeem 82
Ollie Pope lbw R Ashwin 34
Jos Butler b Ishant Sharma 30
Dom Bess lbw Jasprit Bumrah 34
Jofra Archer b Ishant Sharma 0
Jack Leach (not out) 14
James Anderson b R Ashwin 1
Extras: (B-7, LB-17, NB-20, W-1) 45
Total: 578 all out in 190.1 overs.
Fall of wickets: 1-63, 2-63, 3-263, 4-387, 5-473, 6-477, 7-525, 8-525, 9,567, 10-578.
Ishant Sharma 27-7-52-2
Jasprit Bumrah 36-7-84-3
R Ashwin 55.1-5-146-3
Shahbaz Nadeem 44-4-167-2
Washington Sundar 26-2-98-0
Rohit Sharma 2-0-7-0. (UNI)