Neil Woods’ side won the league title as Lennon Stead capitalised on a goalkeeper mistake to smash it home into an open goal in the 94th minute.
But that wasn’t the only moment of drama in the game – goalkeeper Ollie Battersby pulled off a brilliant save to keep out Lincoln’s second-half penalty.
And with the game goalless, the young Mariners sent their men forward – with four up front – as they chased the goal which could clinch the title.
And forward Lennon Stead gave them just that, with his Sergio Aguero-style goal which made it 1-0, and ultimately won the title for Town.
And, despite Doncaster Rovers’ 2-1 away defeat to Notts County, Town did still need to beat Lincoln due to Doncaster’s superior goal difference.
The Mariners ended up as champions on 46 points, with a goal difference of +20, after 13 wins, seven draws, and just four defeats – the fewest in the league.
Second-place Doncaster finished as runners-up on 44 points, with a goal difference of +21, after winning the same amount of games as Town, but drawing five and losing seven.
Watch the highlights from Town's title-winning clash here.
Updated 10:01 - 7 May 2019 by Adam Smith
We would like to thank everybody involved for their hard work in making this magnificent season possible!