Ben Stokes, Joe Root and Moeen Ali struck centuries to lead England’s strong batting performance.
Stokes was the highest scorer for the visitors with 128 while Root scored 124.
Ali, who was on 99 at the close of play on Wednesday, completed his century before being dismissed for 117.
For India, left-arm spinner Ravindra Jadeja returned figures of 3/86 while star off-spinner Ravichandran Ashwin (2/167) and pacers Mohammed Shami (2/65) and Umesh Yadav (2/112) bagged a brace each.
Leg-spinner Amit Mishra (1/98) bagged one wicket.
England (First Innings): 537 (Ben Stokes 128, Joe Root 124, Moen Ali 117; Ravindra Jadeja 3/86, Ravichandran Ashwin 2/167, Mohammed Shami 2/65, Umesh Yadav 2/112) vs India.