Chris Rogers was eight not out and David Warner one not out.
England captain Alastair Cook wants his side to seize their chance to become Ashes heroes as they bid for a series-clinching win over Australia at Trent Bridge.
There looked to be only one result possible in the match after the first innings, when the tourists were skittled for 60 in 18 and a half overs, the fastest first innings in Test history.
Put into bat following an epic morning session of bowling, England would charge to 274/4 as batsman Joe Root and Jonny Bairstow went for the Aussie jugular, by scoring a combined 198 runs.
Stuart Broad was predictably named Man of the Match for his incredible 8 for 15 performance with the ball in the first innings, a hand which denied Australia any hope of reclaiming the urn.
Left-arm fast bowler Mitchell Starc led Australias attack with Test-best figures of six for 111.
Ben Stokes did his considerable best with five wickets but England must still return after all for a third day at Trent Bridge to win back the Ashes.
While the Australian resistance appeared decisively broken by their first innings collapse, England had to finish the job, but did so in composed fashion.
Warner (64) soon followed his partner as Stokes once again induced a false stroke from the burly willower which was easily lapped by Stuart Broad.
Pace-bowling all-rounder Ben Stokes had figures of five for 35 in 16 overs – his second five-wicket haul in his 15-match Test career after he took six for 99 against Australia at Sydney in January past year.
“We came in without Jimmy, who is a massive loss…I’m really happy with being given the extra responsibility”, Stokes said after Australia had avoided their first two-day defeat in a Test since 1890.
Warner faced just 74 balls for his runs but his anger at his dismissal showed that crease-occupation was the priority for Australia in their desperate plight.
After Stokes removed Nevill (17) and Mitchell Johnson (5), Voges (48) and Mitchell Starc (0) were in the middle when bad light stopped play.
Starc then rattled the stumps of nightwatchman Mark Wood and Jos Buttler, snaring 3-5 in 12 balls. “Their tail wagged at bit at Edgbaston so, hopefully, we can just get the job done”.
Yet England found their progress much harder-earned and did not always help themselves either, Warner dropped in the slips on 10 and 42 by Cook and then Ian Bell.
Australia captain Michael Clarke has announced he will retire from worldwide cricket after the final Ashes Test at the Kia Oval.