Ben Slater carried his bat for an unbeaten fifty before Notts were asked to follow on by a James Anderson-inspired Lancashire side at Southport.
The England seamer claimed seven wickets as Notts were dismissed for 126 in their first innings, responding to the Red Rose’s 535/9 declared.
Dane Paterson offered support to Slater - who finished unbeaten on 64 - in a final wicket partnership worth 42, with the South African seamer clubbing two sixes in his 38-ball vigil.
Haseeb Hameed then made an assured 41 before departing in Notts’ second innings as the Green and Golds finished on 84/2, trailing by 143.
In the first over of the day, Jennings declared once Lancashire had scored the six runs needed for a third batting point and then watched from second slip as Anderson produced a meticulous opening spell.
There was a shade of good fortune about his first wicket when Haseeb Hameed defended into the ground with the rebound deflecting off his bottom edge and onto the stumps.
Will Young was the next to depart when edging behind to wicketkeeper Matty Hurst followed by Joe Clarke caught at second slip, while both Jack Haynes and Lyndon James fell caught fending off rib-high deliveries, the former at short leg and the latter via a glove to fourth slip.
Anderson took all six wickets to fall before lunch after Liam Patterson-White edged to give fourth slip another catch, and he returned to have Dillon Pennington caught behind in the fifth over of the afternoon.
By then Tom Bailey had ended a 41-run partnership between Ben Slater and Calvin Harrison when the latter edged behind, before getting Olly Stone caught at second slip.
Slater and Paterson’s stand, the biggest of the innings, was ended by a direct hit from Lyon with Paterson (19) short of his ground, leaving Slater stranded.
However, the left-handed batter was trapped lbw by Lyon for 17 once followed-on, giving the Australian his 800th first-class wicket shortly after the tea interval.
And Lyon also broke a determined 31-run partnership off 103 balls between Hameed and Young when he had the Notts captain caught behind.
With Lancashire camped around the bat and the batters intent on survival above all else, Young (11 not out) and Clarke (11 not out) safely negotiated their way through to the close.