India resumed at the overnight score of 273/7, but England bowlers took the three remaining wickets in quick time to hold back the hosts from getting to a sizeable total.
Steven Finn dismissed Dhoni at 52 to end the Indian innings, 62 minutes into the morning session. The skipper batted well with the tail to continue his good run at the hallowed stadium where he has scored two of his Test centuries.
With wickets falling at the other end, Dhoni upped the ante and hit consecutive sixes off Panesar and in the process brought the team's 300.
Panesar, the first Sikh to play for England, had devastated India in the previous Test in Mumbai, and continued to do the good work in the morning, sending back Zaheer (6) and Ishant Sharma (0) in successive overs.
Panesar (4/90) emerged as the most successful bowler while Anderson returned with figures of 3/89, including the wicket of Tendulkar.
In Image: Cook plays a stroke