Hull City’s dominant first leg was nearly undone in just 45 minutes at the KW Stadium on Tuesday, but the Tigers held on for a 3-2 aggregate win after a 2-0 second leg loss.
Derby County pulled back a pair of road goals, an own goal and a Johnny Russell tally, as the Rams made the aggregate score 3-2 by halftime.
[ MORE: All 2015-16 PL season reviews ]
The Tigers join Sheffield Wednesday in the playoff final on May 28, with the winner joining Middlesbrough and Burnley as new Premier League teams for 2016-17.
Hull finished fourth in the Championship, while Sheffield Wednesday was sixth.