Callum McFadzean gave the Blades an early lead with an impressive strike from 25 yards.
But City sub Ryan Bowman earned a share of spoils for the hosts after 79 minutes when he fired low into the corner of the net.
The draw ensured Blades boss David Weir oversaw all eight of the club's warm-up games unbeaten.
League Two sides' friendly results
York City 1-1 Sheffield United
Chesterfield 1-1 Sheffield Wednesday
Luton Town 3-0 Dagenham and Redbridge
Plymouth Argyle 1-2 Yeovil Town
Rochdale 1-1 Preston
Southport 1-1 Fleetwood Town