India were aiming a target of 180 after the hosts compiled a second innings total of 332, including Chanderpaul's gritty unbeaten 116.
India, who travel to England later this month, on 94-3 the captains agreed to an early finish and the draw.
Chanderpaul also earned his 133rd Test cap, a West Indian record.
"It is always an honour to become the most capped Test cricketer. It just shows what hard work can do for you," said Chanderpaul.
"The whole series I was getting out in 20s and 30s, so I was very happy to carry on past the three-figure mark."
India failed to get to grips with not only Chanderpaul but Fidel Edwards (30) as the pair shared an eighth-wicket stand of 65 that lasted 37 overs.
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