Chesney Hughes scored a century but the final game of the season ended in a draw after a dramatic end to the final session of the match at The 3aaa County Ground.
Wes Durston had earlier claimed career-best figures of 6-109 as Leicestershire were dismissed for 363, setting Derbyshire 341 for victory.
Ben Slater (56) and Billy Godleman (51) set the home side on their way with a half-century apiece as part of a 103-runs stand. Hughes (101) then shared a third-wicket stand of 157 with Captain Wayne Madsen (66), who in the process passed 1,000 first-class runs for the third successive season, to set up an tense finish.
But despite 29 off 21 balls from Durston, Derbyshire fell just short in their pursuit of victory finishing on 331-8 with the match ended in a draw.
Durston had Rob Taylor lbw for 10 and debutant Zak Chappell stumped for seven at the start of Day Four, but Leicestershire Captain Mark Cosgrove continued where he left off the previous day to pass 150 in style with a maximum down the ground.
Durston achieved career-best figures of 6-109 as he had Cosgrove stumped for 156 with Leicestershire all out for 363.
87.1: #CAREERBEST! Cosgrove is stumped for 156 & @Wjdurston3 has career-best figures of 6-109! 363 all out #DERvLEI pic.twitter.com/5cHsIZchKa
— Derbyshire CCC (@DerbyshireCCC) September 25, 2015
Derbyshire were set 341 to win from 81 overs and Godleman and Slater got the chase off to a perfect start as they shared a century stand either side of the lunch interval, with Slater passing 2,000 first-class runs in the process.
Godleman, who was awarded his County Cap and named Members’ Player of the Year yesterday, reached his half-century but fell soon after as Ben Raine had the batsman lbw for 51.
Slater registered his second fifty of the match but he too was lbw soon after as Chappell picked up his second first-class wicket to leave Derbyshire 128-2.
Hughes and Madsen saw their side through to tea following a period of attritional cricket, setting up a finale of 186 to win in the final session. The hosts immediately upped the ante after tea and Hughes raced to his half-century after a flurry of boundaries, with the third-wicket stand entering into three-figures.
Madsen passed 1,000 first-class runs in a season for the third consecutive year as he became the fourth Derbyshire player to pass fifty. Hughes brought up his second hundred of the campaign before Rob Taylor removed both Hughes and Madsen in quick succession to leave Derbyshire requiring 49 from 39 balls.
71.2: #CENTURY! A superb innings from @ChesneyH22 and that's his second century of the season! 280-2 #DERvLEI pic.twitter.com/7GYIp16dTg
— Derbyshire CCC (@DerbyshireCCC) September 25, 2015
Ollie Freckingham dismissed Durston for a quick-fire 29 which sparked a succession of wickets with Tom Poynton, Tom Taylor and Tom Milnes all losing their wicket in a chaotic final period as the hosts tried to get over the line. Tom Knight added an unbeaten 14, but Derbyshire fell 10 runs short of victory.
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