Match ends, Lincoln City 1, Ipswich Town 0.
Non-league Lincoln City reached the FA Cup fourth round for the first time in 41 years as Nathan Arnold's injury-time strike secured a deserved victory over Ipswich at Sincil Bank.
Arnold fired home in the first of four added minutes to secure a famous triumph against the Championship side.
The Imps were dominant throughout and a bigger margin of victory against a team 59 places higher in the league pyramid would not have flattered them.
They now host Brighton in round four.
After twice coming from behind at Portman Road to earn a replay in the first meeting, Ipswich manager Mick McCarthy promised his side had noted the lessons of that scare.
But if they had learned anything, his players were unable to put it into practice, managing just one decent attempt on the Lincoln goal in 90 uninspiring minutes.
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- Chris Sutton cannot contain himself as Lincoln score late winner
Class of 2017 emulate Taylor's achievement
Graham Taylor was in charge of Lincoln the last time they reached the fourth round, so it was fitting the National League leaders matched that achievement on the night the club paid tribute to their former manager.
Lincoln's run in the cup was just one highlight among many during Taylor's managerial reign between 1972 and 1977, which was followed by successful spells at Watford and Aston Villa before landing the England job in 1990.
A minute's applause was held before kick-off in memory of Taylor, who died on 12 January at the age of 72, and he was remembered again later in the match with more applause and a show of lights from fans in the stands.
But far and away the best tribute was saved until the end when Lincoln substitute Adam Marriott's pass sent Arnold sprinting clear of the Ipswich defence and he rounded the goalkeeper before knocking the ball into an empty net.
What now for abject Ipswich?
Former Ipswich defender Terry Butcher, who was at Sincil Bank for BBC Sport, did not hold back in his criticism of his old club.
"I can't remember ever being so embarrassed and humiliated as an Ipswich fan," he told BBC Radio 5 live. "Ipswich lost the wrong way, not enough fight, not enough passion.
"I am bitterly disappointed. Over the 180 minutes Lincoln have been by far the better team, it wasn't a fluke.
"When you lose like that then Mick McCarthy will be concerned, but the club won't have any knee-jerk reactions."
The margin of defeat could certainly have been greater but for a brilliant first-half save by Ipswich goalkeeper Dean Gerken, who stuck out a hand to somehow claw away Luke Waterfall's close-range header on the stroke of half-time.
Danny Cowley's side put Ipswich's back line under pressure with a barrage of crosses, with burly striker Matt Rhead spurning one opening and midfielder Alex Woodyard heading a very presentable chance wide when unmarked.
Ipswich's best opening came with a low Josh Emmanuel shot just before the hour, but Imps goalkeeper Paul Farman was always behind it and made a good save.
'They deserved to win' - manager reaction
Ipswich boss Mick McCarthy: "I should congratulate Lincoln. They deserved to win. From my point of view the way we lost the game was ridiculous. We had a chance to score ourselves and then seconds later they scored.
"On the back of the performance on Saturday it was surprising how we played tonight. They controlled the game but I'm not going to stand here and give my team stick.
"The fans want to see these upsets. It's great for TV but not for me unfortunately. The fans made their thoughts quite clear tonight. I'm not happy about producing that kind of football in front of the fans."
Lincoln City's manager Danny Cowley: "The way they've worked day in, day out, is incredible. You can have great days like this if you put so much work in like we have.
"I thought we competed really well and worked every minute so hard. We pressed from the front and actually thought we had great control in the game even against a Championship side like Ipswich.
"What a brilliant finish from Nathan. Not an easy finish when the whole of Sincil Bank is hoping he sticks it in. It's a great night and an amazing feeling for the club."
- 2WoodBooked at 90mins
- 28ArnoldSubstituted forMuldoonat 90+3'minutes
- 11HawkridgeSubstituted forMcCombeat 90+5'minutes
- 31RobinsonSubstituted forMarriottat 80'minutes
- 9RheadBooked at 49mins
- 18WardSubstituted forDozzellat 75'minutes
- 22DouglasBooked at 64mins
- 9BestSubstituted forSearsat 75'minutes
- Ben Toner
- Shots on Target
Second Half ends, Lincoln City 1, Ipswich Town 0.
Substitution, Lincoln City. Jamie McCombe replaces Terry Hawkridge.
Attempt saved. Jack Muldoon (Lincoln City) right footed shot from outside the box is saved in the top right corner. Assisted by Matt Rhead.
Substitution, Lincoln City. Jack Muldoon replaces Nathan Arnold.
Goal! Lincoln City 1, Ipswich Town 0. Nathan Arnold (Lincoln City) left footed shot from the centre of the box to the bottom left corner. Assisted by Adam Marriott with a through ball following a fast break.
Bradley Wood (Lincoln City) is shown the yellow card for a bad foul.
Foul by Bradley Wood (Lincoln City).
Tom Lawrence (Ipswich Town) wins a free kick on the left wing.
Corner, Ipswich Town. Conceded by Nathan Arnold.
Attempt missed. Jonas Knudsen (Ipswich Town) left footed shot from outside the box misses to the left.
Hand ball by Tom Lawrence (Ipswich Town).
Substitution, Lincoln City. Adam Marriott replaces Theo Robinson.
Attempt blocked. Nathan Arnold (Lincoln City) left footed shot from outside the box is blocked. Assisted by Matt Rhead.
Attempt missed. Matt Rhead (Lincoln City) right footed shot from outside the box misses to the left. Assisted by Nathan Arnold.
Attempt missed. Nathan Arnold (Lincoln City) left footed shot from outside the box is close, but misses the top left corner. Assisted by Matt Rhead with a headed pass following a set piece situation.
Substitution, Ipswich Town. Andre Dozzell replaces Grant Ward.
Substitution, Ipswich Town. Freddie Sears replaces Leon Best.
Terry Hawkridge (Lincoln City) wins a free kick in the defensive half.
Foul by Paul Digby (Ipswich Town).