South Australia captain Nathan McSweeney and stand-in Queensland skipper Marnus Labuschagne shook hands on the afternoon of day four when it became clear neither side could realistically win the match.
Having reached 7-614 declared in their first innings, South Australia finished at 5-252 in their second dig after bowling Queensland out for 370, but ran out of time to enter their home final in winning form.
The result left the Queenslanders glued to the television screen on Tuesday evening, hoping neither Western Australia nor NSW win their respective matches and leapfrog them into next week's decider.
Tasmania's 326-run defeat of the Blues and Victoria's 34-run win over Western Australia paved the way for the Queenslanders to lock up second spot on the ladder and return to Karen Rolton Oval from Wednesday next week.
"All in all, I'm really proud of the boys' effort," said Labuschagne.
"To be in the position we're in now, after five games with no wins and being able to pull in three wins in the last five games and then a draw, that's a really good effort."
After resuming at 2-66 in their second innings on day four, South Australia put on 186 runs for the loss of three wickets.
Jason Sangha brought up a fifth first-class century with an unbeaten 103, reaching triple figures by driving Mitch Swepson over the long off boundary.
It was one of four sixes for the former Sydney Thunder captain, who had slog swept former Test spinner Swepson over long on earlier in the match.
Sangha's feats came as high-profile teammates fell around him on day four.
After snaring centurion Conor McInerney in the first innings, part-time paceman Labuschagne (2-34) trapped ex-Test teammate Nathan McSweeney (27) to finish as the match's unlikely leading wicket-taker.
Labuschagne posted match figures of 4-107.
Test wicketkeeper Alex Carey (56) continued his impressive summer with the bat, bringing up his half-century before driving another part-timer in Matt Renshaw to Ben McDermott at cover.
Carey, who made 104 in the first innings, has averaged 120.67 across his past four first-class knocks.
