Jacques Rudolph (192) and Farhaan Behardien (106) scored centuries for the visitors, while Dean Elgar (110) and Rilee Rossouw (139) reached their centuries for the home side.
The home side's debutant Gino Vries (6/92) and Titans' captain Pierre Joubert (6/89) both picked up more than five wickets in the two teams' respective first innings.
Rossouw completed his fifth century of his first class career. The 20 year old started the last day's play on an unbeaten 81. The Eagles added 112 runs, losing three wickets in the first session of the day with Con de Lange (39) and CJ de Villiers (21) also contributing to avoid defeat.
Imran Tahir picked up four wickets for 112 runs in the Diamond Eagles second innings. Victor Mpitsang (2) came out to bat with a runner after suffering a groin injury earlier in the match.
The visitors needed 282 to win from 36 overs in their second innings after the Eagles were all out for 345 in their second innings. The Titans managed to reach 79/1 in 21 overs before Joubert and the home side's captain Boeta Dippenaar decided to shake hands.
Heino Kuhn (30) lost his wicket when he was caught by Rossouw off the bowling of Charl Pietersen (1/24). Pieter Malan (26*) and Faf du Plessis (17*) were at the crease at the close.