England captain Alastair Cook notched up his 30th Test hundred and declared his team's second innings on 260 for three in the second session, to set India a target of 310.
Hameed hits maiden fifty as England lead by 163
Leg-spinner Adil Rashid picked up three wickets as India were reduced to 71 for four shortly after tea.
Kohli and Ravichandran Ashwin, who made 32, added 47 and batted out over 15 overs for the fifth wicket while the India captain stitched together another crucial stand of 40 in 10 overs for the seventh wicket with Ravindra Jadeja (32 not out).
Pujara, Vijay lead India's strong reply against England
The hosts reached 172 for six when the captains shook hands for the match to end in a draw.
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