It was unfortunate that Mahendra Dhoni's men did not push on for the win after taking a 151-run lead into their second innings but, with the the start of play significantly delayed for a third successive day, a draw was always the most likely result.
The players and umpires eventually came to the middle at 0600 GMT, two-and-a-half hours late, and when play got under way India resumed in cautious fashion.
With the mist not completely cleared and the pitch offering unpredictable bounce and movement, neither Gambhir nor Yuvraj looked interested in taking unnecessary risks before lunch.
England captain Kevin Pietersen bowled the spin-seam combination of Graeme Swann and James Anderson to heavily-packed off-side fields, which initially reduced India to trading in singles.
But Yuvraj was all too willing to counter England's tactics by employing the sweep, best illustrated when he swatted Swann through midwicket for his first boundary of the day.
England's three middle-session wickets proved too little too late
The batsmen took India's lead past 300 before Yuvraj recorded his fifth Test fifty with a cut single and Gambhir his ninth by working Stuart Broad into the leg side.
Half-centuries achieved, the pair began to open up ruthlessly and Gambhir drove Anderson through the covers for four before Yuvraj flicked Anderson over the leg side for six.
Gambhir dragged Broad through midwicket to the rope and then Yuvraj clubbed the same bowler for consecutive maximums - one a front-foot pull over long-on and the other a remarkable flat drive over the covers.
Having reached lunch on 216-4, a lead of 367, India were expected to declare during the interval.
But captain Dhoni wanted to make sure his side batted England completely out of contention and sent Gambhir and Yuvraj back out in search of their centuries.
The pair scored slowly after the re-start, however, and when Yuvraj was made to scurry back to his crease following an abandoned single, Ian Bell's direct hit from short fine leg sent him back to the pavilion.
TMS Close of Play - Second Test, day five
England could be forgiven for thinking there would be no respite with the arrival of Dhoni but he had only faced one ball when he spooned a Monty Panesar delivery straight back to the bowler.
Man-of-the-match Gambhir, who made 179 in the first innings, suddenly looked nervous - and after scratching around in the 90s for the best part of five overs, he was acrobatically taken by Bell at backward point off Swann.
Dhoni declared immediately, giving his bowlers a session and a half to claim an unlikely victory by bowling England out.
Openers Strauss and Cook played watchfully in the opening exchanges, any nerves eased when Cook expertly flicked Zaheer Khan through midwicket for four.
But the Essex man made just six more runs before edging Ishant Sharma tamely to VVS Laxman at second slip, which brought an out-of-form Bell in to partner Strauss, who made a duck in the first innings.
Bell looked particularly nervous against the spin of Harbhajan but a sumptuous drive past mid-off to the rope would have given him confidence.
The Warwickshire batsman survived a strong leg-before shout off Amit Mishra but helped England reach 31-1 at tea.
Just 15 overs remained before the captains could shake on a draw and, apart from Bell clubbing Mishra down the ground for four and Strauss cutting Harbhajan to the same effect, they were largely uneventful.
Wicketkeeper Dhoni came on to bowl the last over himself but Strauss (21no) and Bell (24no) held out as the tour ended with handshakes all round.
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