Aston Villa captain Jack Grealish scored the crucial goal as Dean Smith's team secured Premier League safety with a 1-1 draw at West Ham United.
Needing to better the result of Watford, who were behind the 17th-placed Aston Villa on goal difference ahead of the final day, Grealish broke the deadlock on 84 minutes with a curling strike past Lukasz Fabianski.
Andriy Yarmolenko responded within a minute for West Ham to set up a tense finish but Villa held on to stay up.
Watford were relegated after losing 3-2 at Arsenal. A double for Pierre-Emerick Aubameyang and Kieran Tierney's strike put the Gunners 3-0 up before Troy Deeney and Danny Welbeck scored to give the Hornets hope at Emirates Stadium.
AFC Bournemouth's five-year stay in the Premier League has come to an end despite winning 3-1 at Everton.
They did their bit as Joshua King, Dominic Solanke and Junior Stanislas found the net at Goodison Park but they needed both Villa and Watford to lose.