Middlesex's Australian import Adam Voges stood firm to deny Warwickshire a three-day win after the hosts were forced to follow-on in Uxbridge.
The 33-year-old right-hander from Perth followed his sublime first innings 150 with a stoic, unbeaten 15 in 83 minutes as Middlesex limped to 147-5 in their second innings and still trail by 30 going into the final day of the LV= County Championship Division One clash.
Resuming on their overnight first innings score of 177-4 and requiring a further 160 to avoid the follow-on, the hosts were batting again just after lunch after being dismissed for 309 - just 28 short of surviving the follow-on.
Voges reached his 150 after lunch from 215 balls but, having helped add 72 in tandem with Ravi Patel, he danced down the pitch to clip a return catch to Jeetan Patel off a full-toss.
The hosts posted a third batting bonus point before their last man Corey Collymore (five) drove a catch to mid-off, leaving Ravi Patel unbeaten on a creditable, career-best 26 as Warwickshire enforced the follow-on.
Middlesex were soon on the slide once more - only 16 deliveries into their second innings left-hander Dawid Malan (three) attempted to cut against Chris Woakes only to chop the ball onto his middle stump.
Then, just before tea, Sam Robson (29) fenced a Boyd Rankin lifter to Rikki Clarke at second slip to bring together former Kent team-mates Neil Dexter and Joe Denly.
After a sticky start the pair added 68 inside 15 overs before Dexter was caught on 36 attempting to drive Keith Barker.
Voges, batting again before 5pm and with his side still 72 runs in arrears, then watched as Denly (37) edged onto middle stump, while John Simpson (17) fenced at a Rankin lifter to be caught behind just before stumps.