The start of the second half was a more lively affair as Smallbone forced Diouf into another smart save, and Mendy put in a big challenge to deny Manning on the rebound just as the full-back looked like he would slot home.
Senegal looked a much more dangerous outfit after the restart and almost equalised when Ismail Jakob's cross was headed towards goal by Diatta, and Kelleher flew across goal to tip the ball onto the crossbar.
Kelleher was called into action again as Camara's shot from the edge of the area deflected onto the post off Jake O'Brien, and the 26-year-old had to scamper across his goal to push the ball off the line.
Moments later, Boulaye Dia's low effort was saved by Kelleher, who was by far the more busy of the two goalkeepers after the restart.
However, Kelleher's resolve was broken with nine minutes to play when he pulled off another superb save to keep out Ndiaye, but Crystal Palace's Sarr was on hand to fire home from close range.
Cheikh Sabaly headed narrowly wide as the visitors kept pressing, but a draw was probably a fair result as the Irish drew with a Senegal side whose unbeaten run has now stretched to 21 matches.
Manager Heimir Hallgrimsson handed a debut to St Mirren midfielder Killian Phillips in the second half, and his side are back in action on Tuesday away to Luxembourg while Senegal take on England.