City went ahead just before the break, but QPR hit back with two goals after the break leaving the host’s to win the Premiership title in the most dramatic fashion.
For QPR there was the consolation of remaining in the top flight after Bolton could only draw with Stoke.
Newcastle’s season ended in a 3-1 loss at Everton meaning the Toon will have to be content with Europa League football.
Swansea’s impressive first season in the Premiership ended on a high as a late strike was enough to defeat a disappointing Liverpool 1-0.
Already doomed Wolves went to Wigan and despite taking an early lead went down 3-2 to the Latics.
Bolton needed to win to stand any chance of avoiding the drop, but despite leading at Stoke had to settle for a 2-2 draw and Championship football next season.
Aston Villa’s miserable season ended in a 2-0 defeat at Norwich who ensured that all three promoted club’s from last season will have a second term in the top flight.