Having lost three wickets in picking up two more bonus points before lunch, they kept Worcestershire in the field until tea-time, with Shiv Thakor making an unbeaten 52 prior to a declaration at 379 for eight.
In the 20 overs before the captains shook hands at 4.50pm, the home side made 61 for one, nudging into a lead of two runs after Jigar Naik had dismissed Matt Pardoe for his sixth wicket in the game.
The game between Gloucestershire and Hampshire also finished in a draw at Bristol.
Australian Michael Klinger's 163 helped Gloucestershire achieve maximum batting points before declaring their first innings on 400 for four, a lead of 126, shortly after lunch.
Alex Gidman made 69 but brother Will aggravated an ankle injury when sending down only the second ball of Hampshire's second innings and the visitors survived comfortably enough, closing on 120 for four, Michael Roberts making 44.
Gloucestershire took 11 points from an impressive all-round display, while Hampshire collected six from a below-par effort.