Middlesex suffered their first defeat of the season in the LV= County Championship as Adil Rashid took 5/78 to help Yorkshire wrap up a ten wicket victory.
Full match scorecard
It was the White Rose county's first victory at the Home of Cricket in the County Championship since 1987.
Starting the day still 78 runs adrift with just six wickets in hand, Angus Fraser's side would have been hoping to negotiate their way through to lunch to try and set up the chances of an unlikely draw.
The previous two Championship matches at Lord's had both featured follow-ons which resulted in draws.
However, it wasn't to be as John Simpson was caught for 21 by Rich Pyrah off the bowling of Steven Patterson, and when veteran seamer Ryan Sidebottom clean bowled Neil Dexter to leave the Panthers at 155/6 the chances of a famous Middlesex fight-back were all but over.
Rashid picked up the wickets of Gareth Berg and Corey Collymore to complete his five-for as Middlesex finished 219 all out in their second innings.
It left his colleagues Adam Lyth and Alex Lees the formality of knocking off just five runs to win the match and go top of the table just before 1pm.
Middlesex will naturally be disappointed with the result, especially having failed to secure victory over Sussex last week, but will now have some time to concentrate on the shorter format of the game as the Twenty20 season gets underway this month.
The Panthers play three games at the Home of Cricket and you can buy tickets here.