Victory would have earned them another season in the top flight but instead QPR survived to make sure all last season's promoted sides live to fight another campaign amongst the elite.
Arsenal claimed third spot and a Champions League place after coming from 2-1 down to beat West Bromwich Albion 3-2 at the Hawthorns.
Tottenham Hotspur sealed fourth place, and a possible Champions League qualifying tie, after beating Fulham 2-0 while Newcastle United finished fifth after losing 3-1 at Everton.
Harry Redknapp's Tottenham face an anxious wait, however, as victory for Chelsea in the Champions League final against Bayern Munich would mean they take a spot in next season's competition and send Tottenham into the Europa League.
Image: Manchester City's manager Roberto Mancini holds up the English Premier League trophy after his team's 3-2 win over Queens Park Rangers at The Etihad Stadium, Manchester, England, Sunday May 13, 2012.