Stuart Broad claimed the wicket of England captain Michael Vaughan as Yorkshire were all out for 299 on the second day at Headingley.
Broad posted Samit Patel on the square-leg boundary after having been hit for six in the previous over and he took a clean catch when Vaughan attempted to repeat his feat.
Graeme Swann swept the Yorkshire tail aside to finish with 4-25 from 16 overs but the Notts innings got off to a bad start when Will Jefferson was trapped leg-before by Matthew Hoggard.
“The bowlers did well and it’s pleasing to have kept Yorkshire to less than 300 but we missed some good opportunities in the field,” said Mick Newell, who saw Gerard Brophy dropped on six by Swann.
“It’s not easy for openers to bat for such a short period of time but we need to make a good start tomorrow.”
Jacques Rudolf hit seven fours on his way to 104 not out for the home side but the dismissal of Matthew Hoggard for 13 brought the Yorkshire innings to an end.