Resuming overnight three wickets down with a lead of 187, Carlson and Ingram started with the caution the home side had showed with the bat since their shocking start on the first evening.

The pair gradually eased up through the gears as Yorkshire went on the defensive in the field, although Bess bowled Carlson to claim his third wicket after a stand of 76.

Evergreen Ingram and Ben Kellaway (28 not out) added a further 65, but it was a surprise to most observers when Carlson called a close to the innings as soon as Ingram was caught in the deep off Bess.

Lyth and Finlay Bean got Yorkshire off to a flying start, with Bean hitting Mason Crane’s first two balls for four and six in a stand of 67 before he fell lbw to the spinner for 23.

Lyth continued to find the gaps as he raced to his half-century off 57 deliveries and Sam Whiteman started securely in another worthwhile partnership, to leave Yorkshire possible favourites at tea on 125-1.

Whiteman (24) chipped a catch off Crane two balls after the resumption, James Wharton (10) was bowled trying to hoist Crane into the pavilion and Will Luxton (5) was leg before trying to smash Ryan Hadley into the grandstand.

The crucial blow for Yorkshire hopes came when the excellent Lyth feathered a catch to Chris Cooke off Kellaway, having struck 14 boundaries in the 150 balls he faced.

With 118 needed off 20, Yorkshire appeared to give up the chase but Glamorgan could not hang on to chances offered early on by Matthew Revis and George Hill.

Carlson tried frequent changes of bowling and packed fielders round the bat.

Hadley answered the call with Revis (27) edging behind in the 60th over while Dom Bess was caught at slip.

That took the game down to the last over but Hill (21 not out) and Logan van Beek held on.

Despite a nightmare first hour of the game, Glamorgan could reflect on a creditable return to Division One cricket after two decades.

While Yorkshire captain Jonny Bairstow has to sit out the Hampshire game with a fractured thumb after being substituted, Australian paceman Jhye Richardson is expected to play.

Glamorgan captain Kiran Carlson told BBC Sport Wales:

“The declaration was about the number of overs left in the day and giving ourselves enough overs to bowl them out. I think we had enough runs, they had a very good batting lineup but we backed ourselves on a slow wicket.

“A pretty good four days of cricket with ebbs and flows, (against) a strong team and we put up a good fight throughout the game and were in a position to win today which was great.

“Unfortunately we couldn’t quite get over the line but a lot of people performed, so there are good signs for the rest of the season.

“I was really impressed with Ryan Hadley, he’s fitted into the group really well, and his skillset on a flat wicket was awesome.”

Yorkshire coach Anthony McGrath said:

“We’ve not been at our best in this game, particularly with the bat. I thought at tea we still had a chance; it was probably our best period of the game with those partnerships between Lyth and Bean and Sam Whiteman.

“We felt as though if we could bat well the first 10 overs after tea we could put our foot down, but as we did in the first innings we lost soft wickets which didn’t allow us to push on.

“I said to the lads just now, ‘last year we might’ve gone on to lose that game’ so the way we approached the chase I’m happy with.

“[Bairstow’s injury] is just one of them things. Luckily the injury-sub rule is in place so Luxy [Will Luxton] could come in and Beany did an outstanding job behind the stumps. I don’t think it’s as bad as it could’ve been, so hopefully he [Bairstow] can play against Sussex [the match after next].”