Australia did their bit to force a result on Wednesday with captain Jodie Fields hitting 78 not out from 122 deliveries before declaring just after lunch at 5-231.
But set a target of 249 to win from 45 overs, England never got going on the fourth and final day.
With the scoreboard reading 2-93 hands were shaken shortly after 5pm local time.
The result sees the teams take two points apiece in the multi-format series which also comprises three one-day internationals and three Twenty20 clashes.
"Today we came here with a goal of winning the match and we knew we had to make a positive declaration," Fields told reporters at Wormsley.
"The early wickets today set us back a little bit and we had to stabilise again but we gave it a good crack."
The captain felt her team could have taken 10 wickets in 45 overs but once England started blocking early "we knew they'd shut up shop and were playing for the draw".
"But there's still so much to fight for," the 29-year-old said.
"There are six more games. Over the next two weeks it's going to be really busy and everyone is going to have to perform well."
After looking in danger of following on earlier in the game England will be happy with the draw earned in the main thanks to Heather Knight's fine first-innings 157.
That knock earned her the player-of-the-match award.
After removing Australian opener Rachael Haynes on Tuesday night England got off to an good start in the field on Wednesday by removing Meg Lanning for 36 via a leading edge off Anya Shrubsole.
Lydia Greenway then accounted for Sarah Elliott with a fine piece of fielding in the covers, picking the ball up one-handed and making a direct hit at the non-striker's end.
Jess Cameron and Alex Blackwell were also removed before the declaration.
First-innings centurion Knight was run out - for the second time in the match - early in England's reply following hesitation between the wickets and a direct hit from Ellyse Perry at square-leg.
Fellow opener Arran Brindle reached 20 before offering a return catch to Elliott, but there were no further breakthroughs for Australia as Sarah Taylor and Edwards eased to 38 and 23 respectively.
The first one-day international is at Lord's on Tuesday.