Ipswich return to the English top flight on their first attempt after being relegated last year. The Tractor Boys join the champions, Coventry, in earning automatic promotion.
Kieran McKenna's side spent the majority of the season outside of the top two, trailing Middlesbrough, but a poor run of form from Boro ignited a four-way battle for the second automatic promotion spot.
Millwall and Southampton were both in with a chance of claiming it, but a mid-week draw against the latter and the win over QPR were enough for Ipswich.
Millwall, Middlesbrough, Southampton - who were also relegated from the Premier League last season - and Hull will compete in the play-offs.
Hull entered the final day of the season in eighth, but moved up to sixth thanks to their 2-1 win over Norwich, Derby's defeat to Sheffield United and Wrexham's draw with Boro.
As a result, Wrexham's run of three consecutive promotions under the ownership of Hollywood actors Ryan Reynolds and Rob McElhenney comes to an end.
Hull will now face Millwall while Middlesbrough will go up against Southampton in the two-legged semi-finals, with the winners of those ties meeting at Wembley on May 23rd.
