Warwickshire ended their pre-season tour to Abu Dhabi after playing 85.5 overs.
The Bears, who scored 310 on Wednesday, used nine bowlers while Yorkshire closed on 330 for nine, with six taking wickets.
Oliver Hannon-Dalby was the standout performer, taking 2/38 from 12 overs, including a 26-dot spell across three-and-a-half overs. Special mention goes to Liam Norwell, who bowled 12 overs across three stints and also took a wicket.
Rob Yates took two wickets for 26 runs, Danny Briggs took two wickets for 43 runs, Will Rhodes took one wicket for 23 runs, and Chris Rushworth took one wicket for 28 runs.
Mark Robinson's side took another step forward by winning the Abu Dhabi Counties Super Cup in the opening week.
The Bears will now return home on Friday and rest for a couple of days before playing a three-day friendly against Leicestershire starting on Tuesday.
The County Championship proper begins in two weeks on Friday 5 April, with Warwickshire facing local rivals Worcestershire at Edgbaston.