The seconds escaped with a draw in their latest championship game after keeping Worcestershire at bay throughout the day.
The final day commenced with Worcestershire on 117-2 in their second innings, 229 ahead.
They lost captain Michael Johnson for 7 in the fourth over of the day when Hassan Azad caught him off Ben Kitt.
Notts’ bowlers kept up the good work and in the seventh over Joe Clarke was removed with the score on 142-4.
Brett D’Oliveira came and went for 13 but opener Tom Fell continued on and passed his century soon after.
He was caught by Sam Wood off George Bacon before Hepburn was caught by Cross to leave the score on 204-7.
Adam Tillcock then got in on the act removing Martin Weightman for 25 and George Rhodes for 17 to reduce the score to 244-9.
The visitors then declared setting Nottinghamshire a target of 357 in 68 overs, Tillcock finishing with 3-41.
The Nottinghamshire reply was led by Sam Wood and Hassan Azad but the first wicket fell on 33 when Azad (11) was caught by Johnson off Morris.
In the 25th over Sam Wood, who had looked settled, was bowled by Weightman for 40 to leave the score on 72-2.
In the last over before tea captain Sam Kelsall (20) was caught by Hepburn off D'Oliveira's bowling.
Tom Rowe and Matt Cross were left unbeaten at the interval and looking to settle the side after a couple of wickets.
Resuming after tea Rowe reached 14 but was caught and bowled by D'Oliveira with the score only reaching 90.
Tillcock joined Cross in the middle and the pair saw things out until the 55th over.
After that it was agreed to settle for a draw, the score 165-4 with Cross 37 not out and Tillcock 38 not out.