This means that the Tractor Boys will no longer be able to be caught by the Saints, but Tonda Eckert’s team will secure their place in the play-offs.
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Wes Burns gave the visitors the lead in the second half when a pass reached the winger, who touched it before crashing the ball.
The Saints tied it when Ryan Manning’s free kick deflected into the net.
Cyle Larin then scored with 10 minutes remaining before substitute Jack Clarke grabbed the crucial equalizer for Kieran McKenna’s side by sending a volley into the bottom corner.
Clarke had a great chance to win the game in injury time and all but confirm Ipswich’s return to the top flight due to their superior goal difference, but his shot, which looked destined for the top corner, forced a world-class save from Saints goalkeeper Daniel Peretz.
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Heading into the weekend’s final round of the Championship, both Middlesbrough and Millwall still have a chance of catching Ipswich.
Boro are two points off second place while the Lions are one point away and for either of them to have a chance of automatic promotion the Tractor Boys would have to drop at least points in their final game against QPR at Portman Road.
Millwall host already relegated Oxford at The Den, while Middlesbrough travel to Wrexham, who are in a three-way fight with Hull City and Derby County for the final play-off spot.
The teams emerged into a cauldron of noise inside St Mary’s, both sets of fans cheering their teams on with hopes and dreams of achieving an automatic return to the Premier League.
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Jaden Philogene finished off from distance after a quick start by the visitors with a shot that stung the palms of Peretz. Dan Neil followed moments later with a shot that deflected and went over the Saints crossbar.
The first half was played at a high pace but lacked clear-cut opportunities as both teams enjoyed spells on the ball but rarely ventured into notable shooting positions.
Despite the lack of chances, the energy and atmosphere hinted that something bigger was ready to unfold after the break.
Larin almost broke the deadlock early in the second half when he connected well with a bicycle kick that Christian Walton deflected over the bar.
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The Tractor Boys found a breakthrough early in the second half when Ivan Azon made a pass to Burns, who was in space on the right side of the box.
The winger then took a touch before crossing the ball with his foot and putting it into the net through Peretz’s hand; The power of the shot proved too great for the Saints goalkeeper.
Just before the hour mark, the Saints managed to draw level when Manning’s low, powerful free kick on the edge of the box deflected off Marcelino Nunez and flew over the line via Walton’s foot.
Larin then produced a moment of quality to give his team the lead, controlling a through ball before cutting inside and using the outside of his foot to flick the ball over Walton and into the back of the net.
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But the visitors were far from done when Clarke put a ball into the back of the net with three minutes remaining, volleying his shot into the bottom right corner.
Clarke almost had the last word, but Peretz denied him with a spectacular fingertip save, a save that keeps the race to join Coventry City in the Premier League alive for a few more days.