Matt Milnes claimed his third five-wicket haul of the season as Kent seized control of their Rothesay County Championship game against Middlesex at Merchant Taylors’ School.

Seamer Milnes ended the second day with figures of 5 for 52 – having earlier starred with a valuable batting cameo of 32 to stretch the visitors’ total to exactly 350 – while new-ball partner Matt Quinn took 4 for 52.

There was a similar personal performance by Toby Roland-Jones, who finished with 5 for 71 before smashing a brisk 36 to help rescue the home side from 147 for 8 and ensure they avoided the follow-on.

Eathan Bosch signed off his Middlesex stint with a controlled, unbeaten 43 but took a knock on the elbow from Quinn in the process and was replaced by Noah Cornwell for the second innings – a move queried by Kent, who closed on 38 for 2, an overall lead of 139.

Kent resumed in the morning one short of 300 and Ryan Higgins’ no-ball lifted them above that landmark before their seventh wicket fell later in the over, Keith Dudgeon feathering one behind.

However, Milnes’ assured strokeplay boosted the visitors’ total, with two sweet on-drives off Higgins flying to the rope before Roland-Jones returned to dismiss Ekansh Singh and Matt Parkinson and complete his five-wicket haul.

It was down to Milnes to secure Kent’s third batting bonus point and he did so with another boundary off Higgins before attempting to ramp the next delivery and seeing his stumps splayed.

Having swapped bat for ball, Milnes then made the initial breakthrough in the home side’s reply, with Sam Robson departing cheaply courtesy of Tawanda Muyeye’s excellent diving catch in the slips.

Max Holden might have followed quickly, swiping a hook off Quinn behind only for Chris Benjamin to fluff the chance and he and Luke Hollman guided Middlesex to lunch at 47 for 1.

Within eight overs of the restart, however, their prospects had nosedived as Kent’s opening seamers grabbed two more wickets apiece – the pick of them an unplayable Milnes delivery that ripped out Holden’s off stump.

Ben Geddes could consider himself unlucky to be given out caught behind, apparently failing to connect with a hook off Quinn that skimmed his helmet on the way into Benjamin’s mitts, but Middlesex badly needed a partnership to repair the damage.

They found one from Higgins and Joe Cracknell, who counter-attacked with gusto as he cut and drove nicely, as well as pulling Ekansh for six until Quinn returned to have him caught behind for 38.

Cracknell’s dismissal triggered Higgins’ switch to a more aggressive mode, but he was gone too a few overs later, leaving a ball from Milnes that sent off stump flying – and the bowler claimed his sixth wicket on the stroke of tea, with Zafar Gohar leg before.

Roland-Jones took the fight to Kent’s bowlers, hammering 18 from one Quinn over and pulling Milnes for six before Bosch nudged Middlesex beyond the follow-on mark, cutting Parkinson to the rope.

After a half-hour delay for bad light, the final pair narrowed the deficit with a partnership of 56 as Bosch played off the back foot with precision and Tom Helm found the boundary with regularity in his 26 before holing out to deep midwicket.

Kent lost Zak Crawley – for a second-ball duck – and Sam Northeast early in their second innings before Muyeye, who survived a chance to third slip, and Ben Compton steadied the ship.