Amla and Maunders then steadied the ship before both fell to Jordan, becoming the first two of wicketkeeper Jonathan Batty's four catches in the process.
Mohammed Ashraful top-scored with 58 in his side's all-out total of 231 and by the close, Essex had replied with 83-2 - John Maunders hitting an unbeaten 54.
Essex made just 18 runs off 14 overs on day, but debutant Maunders upped the pace with a succession of early boundaries including a cover drive off Panesar which went for six.
He also had John Maunders caught by Eoin Morgan and Mark Pettini lbw to leave the visitors in deep trouble before Walker and Foster steadied the ship until heavy rain forced an early close.
Yasir Arafat returned to bowl John Maunders but James Middlebrook hit a six over mid-wicket off a slower ball from Azhar Mahmood in the 38th over, to ease the pressure on Essex, who took eight from the penultimate over to ease home.