The day had started poorly for the hosts, only adding 11 runs to their overnight total to set the visitors a tantalising 245 to win.
Stuart Broad fell from the first ball of the day – caught behind off Mohammed Shami – before Sam Curran was then run-out on a horror start to day four.
Curran fell four short of another Test 50 for England, with the game evenly poised with well over five sessions to play.
Joe Root and Co would have hoped to have increased their lead to at least 260 at the Ageas Bowl, with India fancying their chances.
But England reduced them to 22-3 early on, before Kohli and Rahane put the visitors on top with a 101-run partnership.
However, a flurry of wickets either side of tea – inspired by Moeen Ali and Ben Stokes – saw England ultimately cruise to the Test and series victory.
Moeen took four wickets in the innings to take his match tally to nine after his recall to the XI.
Stokes and James Anderson picked up two wickets each, while Broad and Curran – who took the final wicket of Ravi Ashwin – took one apiece.
England will finish off their five-match series with India at the Oval, starting Friday September 7.
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