A second-half penalty from substitute Moussa Sow was not enough for Senegal as Salomon Kalou secured Cote d'Ivoire's place at the World Cup with a late equaliser in Saturday's 1-1 draw.
Sabri Lamouchi's side headed into Saturday's game having eased to a comfortable 3-1 win in the first leg last month, although Senegal still had half a chance by virtue of their away goal.
The Elephants completed the job with a solid performance, although they were pushed hard before finally confirming a 4-2 aggregate victory.
The second leg was played at the Stade Mohamed V in Casablanca as Senegal lost home advantage as punishment for crowd trouble in an Africa Cup of Nations play-off tie between the two sides back in October 2012.
However, that did not appear to affect them, and they dictated play for the majority of the game as they looked to qualify for the World Cup finals for the first time since 2002.
For all their pressure, it took Senegal until the 77th minute to make the breakthrough, with Sow's penalty giving Alain Giresse's side brief hope.
But the crucial second goal did not arrive, and their hopes were finally killed off when Kalou struck in injury time to send Cote d'Ivoire to next year's finals in Brazil.
Senegal coach Giresse made five changes to the side that lost the first leg, with midfielders Salif Sane and Sadio Mane among those to come into the side as the likes of Sow and Mohamed Diame dropped to the bench.
Cheick Tiote and Geoffrey Serey Die both missed out due to suspension for Ivory Coast, who maintained a front three of Gervinho, Kalou and Didier Drgoba.
Giresse's men made the better start, but it took them until the 14th minute to create the game's first real chance as Newcastle United striker Papiss Cisse saw his goalbound header hooked away by Drogba.
Cote d'Ivoire continued to defend well despite sustained pressure from Senegal, who were reduced to largely speculative efforts from range in what was a frustrating first half from their perspective.
Senegal pressed forward with renewed energy after the interval, and Cisse was involved again as he broke through on goal following some poor defending, only for Boubacar Barry to block his close-range effort with his feet.
Lamouchi's side struggled to get a foothold in the game throughout, and they were continually grateful for Senegal's profligacy, which was showcased agains as Dame N'Doye curled a free kick wide from the edge of the area.
However, 13 minutes from time Giresse's men were offered a lifeline when Drogba pulled down Mane in the area, allowing Sow to step up and convert from the spot.
Senegal failed to create further momentum, though, and they were caught on the counter in the final minute of injury time, Kalou steering home to send the Elephants to their third consecutive World Cup.
|Coach: A. Giresse|
for D. N'Doye 65'
for S. Badji 82'
for P. Souaré 90+2'
|Bournemouth beaten by battling Cardiff|
|Immobile injury overshadows Sevilla win at Vicarage Road|
|Lambert at the double on West Brom bow|
|Real sign up Spain starlet Vallejo|
|Valencia blow for West Ham|
|Elche cleared to play in Segunda Division|
|Baker pens a new Villa deal|
|Lambert makes Albion switch|
|Gillingham and Scally found guilty of ´race victimisation´|
|Inter complete Jovetic signing|
|Arsenal v Chelsea: Mourinho cools Wenger rivalry ahead of Wembley meeting|
|Villa snap up Gestede|
|Villa land Veretout|
|Mourinho coy on fresh Stones bid|
|Aubameyang commits to Dortmund|
|Torres on the hunt for trophies with Atletico|
|Cazorla and Walcott sign new Arsenal deals|
|Quick start vital in Arsenal title bid - Wilshere|
|I have received no offers - Guardiola|
|Barcelona to monitor Turan injury|
|Zorc ´surprised´ by Grosskreutz-Tuchel row|
|Phil Neville could be England manager - Moyes|
|UEFA to investigate Shakhtar´s Fred selection|
|City loan Unal to Genk|
|China v South Korea: Stielike looking for new options|
|North Korea v Japan: Halilhodzic to unearth new faces|
|Drogba: I want to be ready, not a burden|
|Hamstrung Clasie in doubt for Southampton league opener|
|West Ham goalscorer Zarate bemoans Astra comeback|
|Negredo quashes Valencia exit rumours|
|´This is not my Sampdoria´ - president Ferrero|
|Criscito could join Inter - agent|
|CBF endorse Zico´s FIFA presidency campaign|
|Hawit to handle CONCACAF´s referee review|
|Falcao is a ´top, top player´ - Terry|
|Tuchel pleased by Dortmund fighting qualities|
|Premier League rules out schedule changes for Champions League clubs|
|UEFA Europa League Review: Southampton stroll as Sampdoria are humiliated|
|Koeman confident of Southampton progress|
|Bilic frustrated with Collins´ red card, Valencia injury|
|Bamford hits hat-trick in Bromley friendly|
|Southampton 3 Vitesse 0: Play-offs in sight for Koeman’s men|
|Wolfsberger 0 Borussia Dortmund 1: Tuchel begins tenure with narrow win|
|West Ham 2 Astra 2: Collins red allows visitors back in|
|Kukesi - Legia match abandoned|
|Joining Roma an ´easy decision´ - Szczesny|
|Chiriches joins Napoli from Spurs|
|Mihajlovic pleased with Milan improvements|
|Injured Chiellini to miss Supercoppa|
|Newcastle complete Mbemba swoop|
|Blackpool protest incurs FA fine|
|Scottish Premiership Preview: Dons seek to run Celtic closer|
|Paris Saint-Germain v Lyon: Ibrahimovic ready for season opener|
|Wolfsburg v Bayern Munich: De Bruyne centre of attention|
|Real Madrid 0 Milan 0 (10-9 on pens): Real lift second International Champions Cup|
|De Bruyne a doubt for Supercup clash|
|Reine-Adelaide needs time to blossom, says Walcott|
|Rodgers will not rush Ibe development|
|Napoli not interested in selling Higuain - De Laurentiis|
|Wilson agrees Bournemouth extension|
|Messi makes early Barcelona return|
|Ibrahimovic: My next move will be a very big surprise|
|Van Aanholt backs Lens to shine|
|Besiktas complete loan move for Gomez|
|McClaren: No decision on Coloccini future|
|Kane, Kaka hail goalkeeper Rimando|
|Chung eager to become FIFA president|
|Yedlin open to loan move|
|Tigres not scared of River trip - Ferretti|
|MLS Preview: Wright-Phillips, Lampard set to debut|
|´A draw is good for us´ - River´s Gallardo confident of Libertadores success|
|Di Maria poised for PSG switch - Blanc|
|Franjic: Bring on Bangladesh, Tajikistan|
|Van Gaal bemoans De Gea situation|
|MLS All-Stars 2 Tottenham 1: Kane stunner can´t spare Spurs|
|Manchester United 0 Paris Saint-Germain 2: Van Gaal´s defensive frailties exposed|
|Tigres UANL 0 River Plate 0: Visitors lose Gallardo in Copa Libertadores final first leg|
|Penedo parts ways with Galaxy|
|Benitez backs Mihajlovic, Milan to succeed|
|Barnetta joins Union in MLS|
|Allegri critical of Morata´s attitude|
|Franjic targets more A-League glory with City|
|Beto undaunted by Super Cup clash against Barca|
|Advocaat upbeat despite another Sunderland flop|
|McClaren praises Newcastle recruit Mitrovic|
|Payet will improve West Ham - Bilic|
|Pulis confirms interest in Lambert|
|Deila expects tough test in Baku|
|Drogba mobbed by Montreal Impact fans|