Borja Perez opened the scoring after 12 minutes when he spun before slamming the ball beyond goalkeeper Darren Randolph.
Paul Heffernan doubled Kilmarnock's lead against the run of play on 63 minutes, however, Motherwell came storming back and quickfire goals from Jamie Murphy and Henrik Ojamaa put the hosts back on level terms.
Kilmarnock went ahead when James Dayton found Perez and the Spaniard spun before blasting the ball beyond Randolph.
Stuart McCall's side responded in a positive fashion and Michael Higdon had an effort well blocked before Murphy floated a shot just wide of the target.
Tom Hateley failed to trouble Cameron Bell with two free-kicks from just outside the box and Murphy saw his shot cleared off the line by James Fowler, but the first half ended in frustration for the hosts as they went into the break a goal behind.
Kilmarnock showed their clinical side as they doubled their lead after 63 minutes. Dayton's corner caused unrest amongst the home defence and Heffernan bundled the ball home at the back-post.
The hosts finally managed to breach the Killie defence with 20 minutes remaining, Humphrey's cut-back found Robert McHugh and the striker's shot was turned in by Murphy.
Suddenly Kilmarnock were back on the back foot and they conceded again three minutes later when Ojamaa cut inside before bending a wonderful shot past Bell.
Murphy fired into the side-netting and McHugh headed just wide at the near-post before Killie boss Kenny Shiels tried to tighten things up by introducing Mark O'Hara.
Three minutes of injury-time brought more pressure on the Killie goal, but their defence held firm to ensure an entertaining affair ended in stalemate.