Michael Vaughan, who made exactly 100 in the first innings, reached 151 before falling to Ashley Cowan. His captain, David Byas, was on 90 when Cowan struck again.
Yorkshire piled up 299 for the first wicket and went into the tea interval at 327 for 3.
Middlesex fought back against Hampshire, rattling up 133 for 1 with Mike Roseberry on 54 and Mark Ramprakash 45 not out, to lead by 10 runs at tea.
Hampshire's final pair, Derek Kenway (75no) and Peter Hartley (58) had earlier carved the bowling around Lord's, putting on 99 to extend their side's lead to 123.
Lancashire are facing their second humiliation within a week. Their former opener Jason Gallian, now Nottinghamshire's captain, remained unbeaten on 120 in their 291 leaving the home side needing to reach the highest score of the match - an imposing 332 - to avoid another loss four days after being heavily defeated by Northamptonshire.
Paul Franks struck two early blows but John Crawley and Paddy McKeown saw Lancashire through rain interruptions to reach 86 for 2.
Jack Russell emulated his first innings effort at Hove against Sussex as Gloucestershire crept towards an ominous position. The left-hander scored 64 at less than one an over in his side's first knock of 294 and compiled a painstaking 85 in the second innings for skipper Mark Alleyne to declare at tea on 302 for 8 from 85 overs. That set a unlikely victory target of 452.Reuse content