Gloucestershire still faced an uphill task and it became mountainous when Craig Spearman cut Lucas to point, Hodnett was caught behind and Kadeer Ali was trapped lbw.
He followed up with a tumbling catch off his own bowling to send back Kadeer Ali and then had Grant Hodnett caught at second slip to make it 48 for three in the 15th over.
Steven Crook drove Taylor straight to Grant Hodnett at long-off, Panesar completed his pair when he edged behind and Lucas also fell for a duck, while Carl Greenidge claimed the final wicket by trapping Johan van der Wath lbw for 15.
Neil Carter picked up the first wicket, knocking back the off stump of debutant Grant Hodnett for 10, and there was a rare success for Jim Troughton when he found a way past Steve Adshead's attempted sweep after he had made 19.