With the game on a knife-edge, Lyndon James produced a career-best 91, fending off a dangerous evening spell from Lancashire and reaping the rewards on the third day of a crucial clash.
His 176-run vigil with Tom Moores arrived at the perfect time for Nottinghamshire, the hosts 209 ahead with five wickets lost when the pair came together.
Steven Mullaney called his men in with the lead 444, and Notts clinched the victory in the final session of the fourth day.