This is India's first Asian Games wrestling gold after 1986 when Kartar Singh won it in Seoul.
However, both Satywart Kadian and Babita Kumari lost out on third-place finishes as they went down in men's 97kg freestyle and women's 55kg freestyle.
Yogeshwar was the star performer of the day as he bettered his 2006 edition bronze in style with a couple of splendid bouts.
He though had to toil hard in a gruelling final with his rival Yusupov defending extremely well. Yogeshwar tried to pin his opponent down time and again but failed in his efforts.
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Yogeshwar won his first point at the end of the opening period.
In the second period, he managed to earn two more points to get a 3-0 verdict in his favour.
Earlier, Yogeshwar, having beaten Jinhyok Kang of North Korea 3-1, a decision by points, in his quarterfinal bout, clashed with Yeerlanbieke Katai in the last four stage.
Yogeshwar was trailing 7-9 before he managed to pin down his opponent in the dying minutes of the match to win 5-0 in a 'victory by fall' verdict.
Meanwhile, Satywart was beaten comprehensively by Mamed Ibragimov of Kazakhstan 0-3 in the bronze-medal match.
Satywart, who lost his quarterfinal bout to Magomed Musaev of Kyrgyzstan 1-3 in a 'decision by points' verdict, could make it to the repechage round as his opponent reached the final.
In his repechage, Satywart proved too strong for Pakistan's Bilal Hussain Awan, who he defeated on great technical superiority 12-0 to make it to the bronze medal play-off.