Baroda rode on Aditya Waghmode's unbeaten 64 and Deepak Hooda's 51 to pile up the runs.
At stumps, dangerous Yusuf Pathan (27 not out) was at the crease along side Waghmode with Baroda playing out 66 overs in the day.
Left-arm orthodox Ankit Sharma was the most successful bowler for Madhya Pradesh picking up two wickets for 58 runs.
Baroda still trail Madhya Pradesh by 81 runs with six wickets in hand.
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Overnight batsman Ankit Dane (45) added 15 runs to his score before being dismissed.
Towards the end, Punnet Datey made 21 while Ishwar Pandey used his long handle to great effect to score a quickfire 34 off 16 balls with the help of two boundaries and three sixes to help his side's cause.
Left-arm spinner Swapnil Singh starred for Baroda with the ball with figures of four for 61.
Madhya Pradesh 1st innings: 269 all out in 111.2 overs (Rajat Patidar 60, Harpreet Singh 51; Swapnil Singh 4/61).
Baroda 1st innings: 188 for four in 66 overs (Aditya Waghmode 64 not out, Deepak Hooda 51; Ankit Sharma 2/58).