Both sides were forced into changes to their teams ahead of play. Durham’s Ben Stokes was withdrawn from the rest of the game at the request of the ECB, with Colin Ackermann drafted in as his replacement.
Meanwhile, Northamptonshire captain Luke Procter was unable to take to the field due to a finger injury and he was replaced by Miller.
With Durham trailing by 148 at the start of play, Raine and Robinson played positively early on, but Northamptonshire struck before the second new ball as Calvin Harrison bowled Raine, who made a mess of an attempted ramp shot.
Robinson then picked up his first half-century of the season, but Potts was dismissed by Harry Conway shortly after as he chipped a delivery straight to mid-wicket.
Durham reduced the deficit down to double figures, with Robinson playing a delightful cover drive off a Conway delivery.
Parkinson provided some resistance from number 11 and played a lovely shot on the legside as Durham took a chunk out of the deficit, while securing a fourth batting bonus point.
However, Northamptonshire wrapped up Durham’s first innings when Liam Guthrie removed Robinson, who was caught on the legside boundary.
With a first innings lead of 45, Northamptonshire’s opening pair of Miller and Ricardo Vasconcelos saw out a challenging period before lunch.
However, Durham struck twice upon resumption through Potts, who got Vasconcelos and Harrison caught in the slips.
In the face of probing bowling, stand-in Northamptonshire skipper McSweeney came in and looked to be positive, hitting boundaries from his first two balls.
The Australia international combined nicely with Miller and the latter passed 50 for the first time in his career with a lovely shot through the covers.
However, Miller, who was composed throughout his innings, had to go after he chipped a Parkinson ball to cover.
McSweeney then brought up his half-century after tea, but he was lbw soon after at the hands of the impressive Potts.
Raine then backed up the efforts of his bowling partner, as he picked up his first of the day when Saif Zaib was caught behind.
The new pair of James Sales and George Bartlett adopted a rearguard action for the visitors, but the former was bowled by Parkinson who produced an excellent delivery to dismantle the stumps.
Bartlett remained at the crease along with Justin Broad and the lower order pair negotiated a challenging period prior to close, with the visitors keeping four wickets intact.
Report by ECB Reporters’ Network, supported by Rothesay.