Having conceded the first-innings lead by 289 runs, India's batting line-up could register only 130 runs in their second innings here to add to their first innings total of 107.
England, who resumed at overnight 356 for six, declared their first innings at 396 for seven earlier on Sunday with Chris Woakes staying unbeaten on 137.
This, in the form of the sublime bowling of the master craftsman in Jimmy Anderson and an all-round performance of considerable substance from Stokes replacement in Chris Woakes, was the flawless antidote to Bristol. Joe Root's side batted for a little under 40 minutes in the first session, aware that rain was likely to take time out of the game.
India captain Virat Kohli was disappointed with his side's efforts: "I am not very proud of the way we played - it's the first time in the last five Tests that we have been outplayed".
Woakes returned largely due to the absence of Ben Stokes, who is standing trial for affray at a court in Bristol.
His stand of 189 with Jonny Bairstow, an England record for the sixth-wicket against India, helped the hosts recover after they had slumped to 89 for four. Five balls later Jennings " s fellow left-handed opener Alastair Cook (21) was out as well, caught behind off a superb Sharma delivery from around the wicket that squared him up and seamed away before finding the outside edge.
As well as reaching the Lord's milestone, the dismissal - Anderson's 96th against India - made him the highest wicket-taker in test matches between the two nations.
Anderson followed up by trapping Lokesh Rahul lbw for 10 with a ball that came back off the seam into the right-hander.
A Tweet by the BCCI stroked a controversy on Twitter as it showed that a beef dish was served to the Indian cricket team at lunch on the third day of the second cricket Test against England at Lord's in London.
Cheteshwar Pujara was five not out and Ajinkya Rahane one not out, with India captain Virat Kohli unable to bat in his regular number four position because of back stiffness.
Kohli appeared restricted in movement and was caught by Ollie Pope at short leg for 17. "I should be okay", he said. "I was feeling in really good rhythm".
Thankfully the late resistance of Ravi Ashwin and Hardik Pandya that took India to 130 was ended before the umpires, who had set a precedent by taking the players off for bad light under floodlights on Saturday, could do so again.