Vithya Ramraj, Kiran Pahal, Machettira Poovamma and Prachi combined to clock 3:29.69 to finish at the top of the podium.
The Indian quartet defeated Bahrain, which finished second in 3:30.21, while China claimed the bronze medal with a timing of 3:31.02.
The victory earned India its first gold medal of the ongoing edition of the multi-sport event.
For Vithya Ramraj, the gold marked a memorable end to her Asian Games campaign. She had earlier helped India secure a silver medal in the mixed 4x400m relay before winning bronze in the women’s 400m hurdles.