In surely the most amazing finish in the 20 years of the Premier League, the title looked to be heading to Manchester United with City trailing 2-1 heading into stoppage time. But goals from Edin Dzeko and Sergio Aguero saw City grab a 3-2 victory that meant they finished above rivals United on goal difference.
A goal from Pablo Zabaleta looked to have set City on their way, but second-half strikes from Djibril Cisse and Jamie Mackie saw City fans in tears as they feared the worst.
The match started with QPR sticking 10 men behind the ball as they tried desperately to hang on for the point that would likely be enough for their survival.
But the tension City was feeling seemed to drain away when Zabaleta gave them the lead six minutes before half-time. The Argentinian received the ball from Yaya Toure down the right of the box and hit a quick shot under pressure that QPR keeper Paddy Kenny could only push up into the air and watch as it sneaked in off the far post.
But City threw their lead away with some woeful defending just three minutes after half-time. A hopeful ball forward should have been simple for Joleon Lescott to head away, but the England defender got it all wrong as he only succeeded in putting it straight into the path of Cisse. The French striker needed no second invitation as he hit a fierce shot under Joe Hart.
The match seemed to swing back in City's favor when QPR was reduced to 10 men after a shameful elbow y Joey Barton on Carlos Tevez. But once again things did not go to plan as Jamie Mackie rose unchallenged to head down and into the back of the net from a left-wing cross.
City gave themselves renewed hope in the stoppage time with a header from a right-wing corner from substitute Edin Dzeko. But with just three minutes of injury-time remaining, few surely believed that City could get another.
But this incredible season had one final twist. Aguero, such a hit in his first season in Manchester, beat a challenge to create half a yard of space in a crowded QPR area before striking powerfully past Kenny at the near post.
Aguero went wild as did Roberto Mancini and the City coaching staff as a title that only moments earlier looked like being thrown away was back in their grasp.