The White Rose completed a rousing innings-and-139-run win as their seamers bundled the champions out for 140 in their second innings. Adil Rashid had earlier completed back-to-back first-class centuries with 110no in Yorkshire's 407 all out.
The seamers then took over as Tim Bresnan, a late addition to this match following his release by England, Ryan Sidebottom and Steven Patterson each took three wickets. Only Jim Troughton, with 37, got going for Warwickshire.
Middlesex also wrapped up victory a day early, seeing off struggling Somerset by nine wickets at Taunton.
The hosts made 265 in their follow-on innings, Jos Buttler responsible for 85 of those in a responsible knock, while Tim Murtagh closed with six for 49. That left a winning target of 71 for the visitors, who crossed the line by taking the optional extra half-hour. Chris Rogers made 25 before being dismissed by Jamie Overton, but Sam Robson carried the bat with 24no.
Rock-bottom Derbyshire look destined for defeat against Sussex at the County Ground.
They will resume on 189 for seven, a lead of just 11 after a disciplined display that saw Steve Magoffin, James Anyon and Monty Panesar all take two wickets.
In the morning session, Michael Yardy had reached 153 before Sussex were dismissed for 407 - Mark Footitt taking six for 120.
At Trent Bridge, Surrey closed on 73 for three in pursuit of 259 to beat Nottinghamshire.
England one-day pair Stuart Meaker and Jade Dernbach did most to help the Brown Caps' cause, taking seven wickets between them as Nottinghamshire were bowled out for 191. Luke Fletcher then took two wickets early in the Surrey chase, with Rory Burns unbeaten on 41.