Troy Deeney scored Watford's aggregate winner in an extraordinary finish to their Championship play-off semi-final against Leicester.
Twenty seconds after Anthony Knockaert had a debatable penalty saved at the other end, Deeney thumped in a shot.
Earlier on, a stunning Matej Vydra volley wiped away Leicester's 1-0 first-leg advantage.
David Nugent headed in to restore Leicester's lead and, after another Vydra strike, Deeney netted the winner.
"Anthony Knockaert had an excellent game, but it was him who missed the penalty that is what will be remembered. Watford were much better in the second half. They deserve it. From agony to absolute jubilation for the home fans."
BBC Sport co-commentator Danny Higginbotham on BBC Radio 5 Live sports extra
A heartbroken Knockaert was in tears at the final whistle, while joyous Hornets fans invaded the pitch after their side booked their place in the Championship play-off final at Wembley on Monday, 27 May.
Following a second leg of drama, tension and excitement, Deeney's goal, after keeper Manuel Almunia saved Knockaert's injury-time spot-kick, finally separated the two sides.
The Foxes had only sneaked into the play-offs following a final day win over Nottingham Forest and they exerted the early pressure as they tried to build on their first leg advantage.
The visitors had an early shout for a penalty when Ritchie De Laet's near-post shot from Knockaert's corner appeared to be blocked by the arm of Joel Ekstrand, but referee Michael Oliver turned down their appeals.
The home side heeded the warning and almost scored on the counter attack. Deeney laid a pass off to fellow forward Vydra, whose shot across goal went the wrong side of the post.
Deeney, who was back after being suspended for the first leg, had a long-range strike palmed away by keeper Kasper Schmeichel before the Hornets took the lead in spectacular style.
Defender Marco Cassetti flighted a ball to Vydra and, after watching the ball drop over his shoulder, the Czech striker atoned for his earlier miss by brilliantly volleying a left-foot shot into the far corner.
The goal was harsh on the Foxes but they kept up their positive mindset and did not take long to level, with Nugent adding to his goal in the first leg by nodding in a Knockaert corner at the far post.
After the break, Watford found some passing rhythm and twice went close.
Firstly midfielder Cristian Battocchio produced some neat skill on the edge of the box, only to shoot just wide, then Almen Abdi had a 12-yard shot deflected wide after Vydra helped on a Matthew Briggs cross.
It was Vydra who again hauled them level. The Football League player of the year played a one-two with Deeney before side-footing a shot into the bottom corner.
Leicester had to withstand some intense pressure before they were given the chance to book a place at Wembley after being awarded a dubious penalty for a Cassetti foul on Knockaert in injury-time.
Knockaert picked himself up to take the spot-kick, only to see his effort and the follow-up saved.
The Frenchman's misery was compounded when Watford counter-attacked and, after Jonathan Hogg's knockdown, Deeney applied the finishing touch in a dramatic finale.
- 01 Almunia
- 12 Doyley (Forestieri - 64' )
- 17 Briggs
- 27 Cassetti Booked
- 39 Chalobah
- 40 Ekstrand
- 21 Anya
- 22 Abdi
- 38 Battocchio (Hogg - 79' )
- 09 Deeney Booked
- 20 Vydra
- 30 Bond
- 06 Hall
- 18 Pudil
- 04 Eustace
- 08 Hogg
- 36 Geijo
- 41 Forestieri
- 01 Schmeichel
- 02 De Laet
- 05 Morgan
- 15 M Keane
- 10 King
- 11 Dyer (Drinkwater - 66' )
- 16 James
- 24 Knockaert
- 18 Schlupp
- 35 Nugent
- 39 Wood Booked (Kane - 61' )
- 13 Logan
- 03 Konchesky
- 22 Moore
- 04 Drinkwater
- 07 Marshall
- 09 Vardy
- 37 Kane
Live Text Commentary
Full Time The referee signals the end of the game.90:00 +10:09
David Nugent gives away a free kick for an unfair challenge on Manuel Almunia. Manuel Almunia restarts play with the free kick.90:00 +9:17 Booking
Booking Troy Deeney is cautioned.90:00 +6:44
Assist on the goal came from Jonathan Hogg.90:00 +6:44 Goal scored
Goal! - Troy Deeney - Watford 3 - 1 Leicester Troy Deeney gets on the score sheet with a goal from inside the area low into the middle of the goal. Watford 3 (3)-(2) 1 Leicester.90:00 +6:27 Penalty
A save by Manuel Almunia from penalty by Anthony Knockaert. Watford 2 (2)-(2) 1 Leicester.90:00 +5:30
Anthony Knockaert fouled by Marco Cassetti, the ref awards a Penalty.90:00 +4:52
Centre by David Nugent, Harry Kane has an effort at goal from deep inside the area missing to the right of the target.86:26
Free kick awarded for an unfair challenge on Fernando Forestieri by Michael Keane. Manuel Almunia restarts play with the free kick.85:21
Ikechi Anya delivers the ball, Wes Morgan manages to make a clearance. Harry Kane fouled by Fernando Forestieri, the ref awards a free kick. Kasper Schmeichel restarts play with the free kick.81:34
A cross is delivered by Nathaniel Chalobah.80:10
Matthew Briggs delivers the ball, blocked by Ritchie De Laet.79:38
Centre by Ikechi Anya, save by Kasper Schmeichel.78:38 Substitution
Substitution Cristian Battocchio leaves the field to be replaced by Jonathan Hogg.78:07
Almen Abdi takes a outswinging corner from the right by-line to the near post, Header by Marco Cassetti from deep inside the penalty area misses to the left of the goal.77:44
Fernando Forestieri takes a shot. Andy King gets a block in.77:18
The official flags Troy Deeney offside. Indirect free kick taken by Kasper Schmeichel.76:48
Ritchie De Laet sends in a cross.75:45
Outswinging corner taken from the right by-line by Almen Abdi. Shot from just outside the box by Fernando Forestieri misses to the right of the target.74:59
Almen Abdi crosses the ball.
Cristian Battocchio concedes a free kick for a foul on Ritchie De Laet. Anthony Knockaert crosses the ball from the free kick left-footed from right channel.73:31
Harry Kane takes a shot. Manuel Almunia makes a save.72:08
Joel Ekstrand challenges David Nugent unfairly and gives away a free kick. David Nugent produces a strike on goal direct from the free kick.71:29
Cristian Battocchio takes a shot. Save by Kasper Schmeichel.71:16
A cross is delivered by Ikechi Anya, clearance by Ritchie De Laet.69:54
Ikechi Anya delivers the ball, clearance by Andy King.68:11
Harry Kane shoots direct from the free kick.68:11 Booking
Booking Marco Cassetti is cautioned.68:01
Marco Cassetti concedes a free kick for a foul on Harry Kane.65:41 Substitution
Substitution Danny Drinkwater replaces Lloyd Dyer.64:47
Troy Deeney provided the assist for the goal.64:47 Goal scored
Goal! - Matej Vydra - Watford 2 - 1 Leicester Goal scored by Matej Vydra from the edge of the penalty box to the bottom right corner of the goal. Watford 2 (2)-(2) 1 Leicester.63:38 Substitution
Substitution Lloyd Doyley goes off and Fernando Forestieri comes on.63:13
Ikechi Anya crosses the ball, clearance made by Michael Keane.61:23
Anthony Knockaert is caught offside. Marco Cassetti takes the indirect free kick.60:21
Kasper Schmeichel restarts play with the free kick.60:21 Substitution
Substitution Harry Kane joins the action as a substitute, replacing Chris Wood.60:21
The assistant referee signals for offside against Matthew Briggs.59:56
Matthew Briggs crosses the ball, Michael Keane makes a clearance.57:30
Corner taken by Almen Abdi played to the near post, clearance by Ritchie De Laet.56:37
Almen Abdi takes a shot. Michael Keane gets a block in. Inswinging corner taken by Almen Abdi from the right by-line, Michael Keane manages to make a clearance.55:42
Ritchie De Laet gives away a free kick for an unfair challenge on Matthew Briggs. Free kick taken by Manuel Almunia.53:51
Long range shot by Nathaniel Chalobah goes wide right of the net.51:38
The ball is delivered by Ritchie De Laet, Chris Wood takes a shot. Save by Manuel Almunia. The referee blows for offside against David Nugent. Manuel Almunia takes the free kick.50:46
Centre by Almen Abdi, clearance by Jeff Schlupp.50:13
Corner taken right-footed by Almen Abdi.49:51
Cristian Battocchio takes a shot. Save made by Kasper Schmeichel.48:25
Ritchie De Laet gives away a free kick for an unfair challenge on Matthew Briggs. Nathaniel Chalobah restarts play with the free kick.47:03
Free kick awarded for a foul by Almen Abdi on Chris Wood. Anthony Knockaert has a direct shot on goal from the free kick.46:03
Effort from just outside the area by Marco Cassetti goes over the bar.45:53
Cristian Battocchio crosses the ball, clearance made by Matty James.45:01
The referee starts the second half.45:00 +2:18 Half time
Half Time The players leave the pitch at half time.45:00 +0:14
Corner from the right by-line taken by Anthony Knockaert, Wes Morgan concedes a free kick for a foul on Manuel Almunia. Direct free kick taken by Manuel Almunia.43:34
Foul by Matej Vydra on Ritchie De Laet, free kick awarded. Wes Morgan takes the free kick.42:55
The ball is crossed by Ikechi Anya, Shot from deep inside the area by Troy Deeney goes over the bar.40:35
Ikechi Anya concedes a free kick for a foul on Jeff Schlupp. Kasper Schmeichel takes the free kick.39:01
The ball is swung over by Ikechi Anya, Wes Morgan manages to make a clearance.37:09
Jeff Schlupp crosses the ball, Marco Cassetti makes a clearance.34:30
Centre by Ikechi Anya. Effort from deep inside the area by Troy Deeney misses to the left of the target.33:17
Joel Ekstrand takes the indirect free kick.33:17 Booking
Booking Chris Wood goes into the book.33:07
Chris Wood is caught offside.29:33
Troy Deeney takes a shot. Kasper Schmeichel makes a save.28:36
Foul by David Nugent on Cristian Battocchio, free kick awarded. Direct free kick taken by Almen Abdi.24:24
Wes Morgan challenges Marco Cassetti unfairly and gives away a free kick. Free kick taken by Almen Abdi.23:50
Anthony Knockaert takes a shot from just outside the penalty area clears the crossbar.22:46
The ball is crossed by Cristian Battocchio.22:35
The ball is swung over by Ikechi Anya, Ritchie De Laet makes a clearance.21:14
Nathaniel Chalobah challenges Andy King unfairly and gives away a free kick. Matty James restarts play with the free kick.18:14
Matty James provided the assist for the goal.18:14 Goal scored
Goal! - David Nugent - Watford 1 - 1 Leicester David Nugent scores a headed goal from close in. Watford 1 (1)-(2) 1 Leicester.17:40
Inswinging corner taken right-footed by Matty James,17:31
A cross is delivered by Lloyd Dyer, Marco Cassetti makes a clearance.17:10
The ball is swung over by Jeff Schlupp, clearance made by Marco Cassetti.15:34
Ritchie De Laet fouled by Matthew Briggs, the ref awards a free kick. Kasper Schmeichel restarts play with the free kick.14:07
Assist on the goal came from Cristian Battocchio.14:07 Goal scored
Goal! - Matej Vydra - Watford 1 - 0 Leicester Goal scored by Matej Vydra from inside the penalty box to the bottom left corner of the goal. Watford 1 (1)-(1) 0 Leicester.12:50
Lloyd Dyer concedes a free kick for a foul on Cristian Battocchio. Manuel Almunia takes the free kick.12:31
Anthony Knockaert takes a inswinging corner from the right by-line to the near post, clearance made by Matej Vydra.12:15
Matej Vydra gives away a free kick for an unfair challenge on Jeff Schlupp. Direct free kick taken by Jeff Schlupp.9:22
Foul by Chris Wood on Joel Ekstrand, free kick awarded. Troy Deeney takes the direct free kick. Troy Deeney takes a shot. Kasper Schmeichel makes a save.6:24
Effort on goal by Matej Vydra from deep inside the penalty area misses to the right of the goal.6:05
The ball is sent over by Ritchie De Laet, Manuel Almunia makes a save.4:49
Centre by Anthony Knockaert, blocked by Ikechi Anya. Anthony Knockaert takes a inswinging corner from the right by-line to the near post, clearance made by Troy Deeney. Inswinging corner taken by Anthony Knockaert from the right by-line played to the near post, save by Manuel Almunia. Anthony Knockaert takes a inswinging corner to the near post, clearance made by Matej Vydra.4:25
Anthony Knockaert takes a inswinging corner from the right by-line played to the near post, Matej Vydra makes a clearance.4:13
Anthony Knockaert crosses the ball, Matthew Briggs gets a block in.2:14
Foul by Nathaniel Chalobah on Andy King, free kick awarded. Kasper Schmeichel takes the direct free kick.0:00
The referee gets the match started.
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