Millwall, Middlesbrough, Southampton and Hull will compete in the play-offs, with the final set to take place at Wembley on 23 May.
Ipswich return to the English top flight on their first attempt after being relegated last year.
The Tractor Boys struggled on their return to the Premier League after a 22-year absence, but will hope that experience serves them better for the challenge ahead.
Despite winning just four of their 38 league games last season, the club have been rewarded for keeping faith with Kieran McKenna.
The former Manchester United assistant boss has now led the club to three promotions in four campaigns.
"This has probably been the hardest one, if I'm honest, so it means an awful lot," said McKenna.
"We've had to try and rebuild this team under difficult circumstances and you know everyone's stuck at it. I think we deserve to be where we are today."
Ipswich join the champions, Coventry, in earning automatic promotion.
Southampton, who will compete in the play-offs, were also relegated from the Premier League last season.
Coventry last played top-flight football in 2000/01; Millwall in 1989/90; Middlesbrough in 2016/17; and Hull in 2016/17.
Wrexham and Derby missed out on the play-offs, finishing seventh and eighth after the final day.