Rangers returned to the Champions League group stage for the first time in 12 years with a 1-0 win at PSV Eindhoven on Wednesday to secure a 3-2 aggregate victory.
Antonio Colak tapped in the winner for the Scottish side on the hour after Milik Tillam robbed PSV defender Andre Ramalho and slipped the ball across the box to the Croatia forward who made no mistake.
"It's difficult to describe in words, it was a great team performance. It's an amazing journey we'll have this year and I'm so proud of all of these guys," Colak said. "I was in tears on the pitch, it was just a moment of joy. As a kid I always wanted to compete at this level and to be here is amazing."
A decade ago, Rangers were liquidated as a club and restarted in the fourth tier of Scottish football.
Now they join city rival Celtic, who earned direct entry as the Scottish league winner, in the lucrative Champions League that is worth tens of millions of euros to each.
Dinamo Zagreb needed extra time to get past Norway's Bodo/Glimt 4-1, securing a 4-2 aggregate win, after letting their early advantage slip.
Mislav Orsic fired Dinamo ahead from a tight angle in the fourth minute and then a brilliant bicycle kick from Bruno Petkovic extended the lead, making it 2-1 on aggregate.
But the Norwegian champions fought their way back into the game with Albert Gronbaek levelling the tie on aggregate in the 70th minute with a shot which Dinamo keeper Dominik Livakovic should have kept out.
But early in the second period of extra time Dinamo restored their advantage with a composed finish from the edge of the box by Josip Drmic and then made sure of victory with a goal on the break from Petar Bockaj.
FC Copenhagen also made into the group stage after a 0-0 draw at Turkey's Trabzonspor secured a 2-1 aggregate win.
Information from Reuters and the Associated Press was used in this story.