The home side came close to taking the lead early on when Sone Aluko's shot was parried by debutant Joe Lewis into the path of Danny Graham, who then managed to put the rebound over the bar.
Hull did take the lead five minutes before half time though when a cross in from Tom Huddlestone wasn't cleared by Steven Caulker and Ben Turner, Davies nipping in between them to nod past Lewis.
Steve Bruce's side were much the better in the second half and tested Lewis a couple more times, with Aluko impressing in attack for Hull, only for Cardiff to equalise against the run of play.
The goal came in the 59th minute when Whittingham was left unmarked in the box to volley home a cross from the right hand side to earn the Bluebirds a point, which manager Malky Mackay would probably have taken before the match.
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