QPR's numerical disadvantage saw them struggle for much of what was left of the match, but they managed to snatch the win in the 89th minute as substitute Bobby Zamora pounced inside the area.
Read Sports Mole's minute-by-minute report below to find out how all of the action unfolded.
4 - Derby County have won four of their last five play-off games, including their most recent final (v West Bromwich Albion in 2007). Ram.— OptaJoe (@OptaJoe) May 24, 2014
"I think we've done quite well – we let those 18 players go and we were almost throwing a team together at the start of the season.
"How many more changes we make this summer will be up to the chairman, but the nucleus is there for a good team next year, whatever division we are in. It's a big game, but I don't want to go piling pressure on people, on players, on anybody really."
"We've prepared as much as possible as normal. It's a big game and a different game but we've got to try and do things as normal. And this team do that. They're young and exuberant and enjoy training. They do the work, they work so hard, like they have all season.
"It's all in the preparation. You win games with what you do Monday to Friday, not necessarily on the Saturday. It's what you do to prepare."
5 - Charlie Austin has scored five times in his last five games for Queens Park Rangers. Engine.— OptaJoe (@OptaJoe) May 24, 2014
8 - Eight of the last ten Championship Playoff Finals have been won by a single goal. Margins.— OptaJoe (@OptaJoe) May 24, 2014
There can be no doubting that Charlie Austin is going to be vital for QPR today. The striker has already bagged 20 goals so far this season, and he will be hoping that he can add to his tally this afternoon. Austin is the kind of forward who can score all sorts of goals: headers, long range, close range, tap-ins.
As for Derby, 19-year-old midfielder Will Hughes is going to be a big influence on proceedings. The youngster is a huge prosect for the future, but he's already proving himself with the Rams thanks to a string of fine performances this season.
Bit of a contrast in the two starting lineups at Wembley, PL appearances made by QPR team: 1770. PL appearances made by Derby team: 28— Stuart James (@StuartJamesGNM) May 24, 2014
0 - Despite having more attempts than Derby (7-5), Queens Park Rangers are yet to register a shot on target. Damp.— OptaJoe (@OptaJoe) May 24, 2014
2011 - Gary O'Neil is the first player to be sent off in a Championship Playoff Final since Jay Tabb for Reading in 2011. Ejected.— OptaJoe (@OptaJoe) May 24, 2014