Responding to Hyderabad's 522 in the four-day encounter, the Mohammad Kaif-led Andhra slumped from their overnight score of 121 for no loss to 369 all out and fell short by just 3 runs to avert a follow-on situation.
Prasanth (124) was the stand-out performer for the Andhra in his 257-ball stay, striking 17 fours and a six.
Hyderabad's pace spearhead Ravi Kiran and off-spinner Syed Quadri bagged 3 wickets each and were ably supported by left-arm pacer Chama Milind, who picked up 2 wickets.
Brief Scores:
Hyderabad 522 all out (D Ravi Teja 96, Ashish Reddy 95, Chama Milind 97 not out; Duvvarapu Shivkumar 4-84)
Andhra Pradesh 369 and 24/0 fo in 6 overs (Srikar Bharat 10 not out, Prasanth Kumar 11 not out; Ravi Kiran 0-8).