The hosts, after giving away a handy first-innings lead to Kerala, reached the target with ease scoring 221 for three in 51.2 overs.
Prasanth Kumar top-scored in the chase with a 106-ball 75, while Srikar Bharat made 62 off 64 balls at the Dr PVG Raju ACA Sports Complex. Prasanth struck 11 fours and two sixes while Bharat hit eight fours and two sixes.
Captain Mohammad Kaif retired hurt after scoring 34.
By stumps on the third and penultimate day yesterday, Andhra had cruised to 55 for no loss in just eight overs.
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Brief scores:
Kerala: 229 and 129 in 78.1 overs (K B Pawan 34; Paidikalva Vijaykumar 5/33)
Andhra: 141 and 221 for three in 51.2 overs overs (Prasanth Kumar 75, Srikar Bharat 62).