England flanker Neil Back scored an extra-time try to send Leicester into next season's European Cup as Saracens' legends Tim Horan and Abdel Benazzi bowed out of rugby on a losing note.
Back touched down with five minutes of the second extra period remaining to clinch a 27-20 victory in the Zurich Premiership's wildcard playoff final.
The win ensured an unhappy end to the careers of former Australian international Horan and France's Benazzi, both of whom are retiring.
But for Leicester, clinching a spot in Europe's premier competition represents some consolation for their disappointing Premiership campaign. Having been champions last year, Leicester slumped to sixth this season and lost ten of their 22 games.
Leicester had looked to have done enough to win in regulation time after Dorian West had scored on the hour mark and Craig McMullen slotted over a drop goal to open up a seven-point lead.
But a superb solo effort from winger Richard Haughton, duly converted by Andy Goode, got Saracens back on level terms. Tim Stimpson landed a penalty to put Leicester ahead once more, four minutes into stoppage time. But Goode cancelled that out to send the match into extra time.
Stimpson had ensured the first points went to Leicester but England flanker Richard Hill gave Saracens an early edge with a touchdown inside the first ten minutes which Goode converted.
Stimpson slotted a second penalty in the 21st minute and then a third after a brawl which referee Roy Maybank decided had been provoked by Saracens.
Goode stroked his first penalty over after 36 minutes to leave Saracens with a 10-9 lead at the turnaround but despite the late heroics, they were unable to get their noses in front again.