Sussex, set 273 to win, finished on 190 for nine.
India leg-spinner Anil Kumble took three for 57 but Robin Martin-Jenkins, with 45 not out and last man Jason Lewry, who survived 24 balls while making an unbeaten eight, hung on to avoid defeat.
In all 17 wickets fell on the last day, eight of them belonging to India. But having been 120 for eight, India saw No 10 Rudra Pratap Singh, primarily a left-arm quick, scores 41 not out.
Singh put on 64 for the ninth wicket with India captain Rahul Dravid, who declared with his side on 184 for eight.
India now play England Lions - the new name for England's A side - in a three-day match at Chelmsford, the home of eastern county Essex, in a three-day match starting on Friday.
The first Test of a three-match series against England is scheduled to begin at Lord's a week on Thursday.