After Jordan Clark's goal was cancelled out by Gustavo Hamer, the Hatters held their nerve from the spot and to see some of the best pictures from the evening, check out the gallery below.
9. Luton Town celebrate reaching the Premier League!
Luton supporters take in Town's shoot-out victory Photo: Liam Smith
10. Luton Town celebrate reaching the Premier League!
Defender Dan Potts realises just what the Hatters have achieved Photo: Alex Pantling
11. Luton Town celebrate reaching the Premier League!
Luton forward Carlton Morris shows his support for team-mate Tom Lockyer Photo: Richard Heathcote
12. Luton Town celebrate reaching the Premier League!
Luton CEO Gary Sweet lets his emotions come out with Town on their way up Photo: Liam Smith