Ipswich condemned Hull to the Championship play-offs - but the Suffolk side's 1-0 victory was not enough to propel them into the top six.An inspired substitution from manager Jim Magilton won the game for the home side after Alan Lee scored a minute after coming off the bench.
Lee headed into the bottom corner in the 70th minute after being set up by former Hull striker Jonathan Walters.
The defeat means the Tigers miss out on the chance of immediate promotion to the top flight for the first time in their history.
They will now face the lottery of the play-offs, while Ipswich are resigned to another season in the Championship.
In a nervy clash played in sweltering conditions, Ipswich had the better opportunities and could have won by a greater margin.
Shefki Kuqi was controversially flagged offside after just two minutes after heading home when Pablo Counago's shot rebounded off the post.
Tommy Miller also hit the woodwork in the first half, after being teed up by Walters.
In the second half, Ipswich squandered a succession of chances, with Jason De Vos, Alan Quinn and Counago all missing great openings.
But Hull could have equalised immediately after going behind but substitute Nicky Barmby headed the ball straight into the arms of Stephen Bywater following a cross from Sam Ricketts.
Hull - playing with three strikers - had few other efforts of note, although veteran striker Dean Windass and full-back Andy Dawson both sent free-kicks over Bywater's bar.
Dean Marney also saw a dipping volley fly narrowly over the crossbar as Hull pushed for an opening.
As Ipswich searched for an opening goal, Danny Haynes was sent on in the 52nd minute in place of Kuqi.
On 62 minutes, Quinn blazed over after the ball broke loose in the penalty box. And Counago's shot was deflected wide after he was set up by the impressive Owen Garvan.
Ipswich skipper De Vos also headed a Garvan corner wide as the home dominated the chances.
But it was Lee, on as a substitute for Quinn, who finally broke the deadlock after his header from six yards trickled into the net.
In front of 28,223 fans, Ipswich looked comfortable but needed other results to go their way to be in with a chance of finishing in the play-offs.
As results from other grounds filtered through to the stands, the atmosphere dipped as the home fans realised their side's victory would not be enough.
For Hull, even victory would not have been good enough for automatic promotion after rivals Stoke held out for a draw.
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