Gillingham could have been playing in the second division after 90 minutes against Stoke City but a strong performance led by Andy Hessenthaler earned themselves another year in division one.
Stoke claimed the majority of first-half possession and wasted no time in launching an assault on the away goal.
Karl Henry and captain Clive Clarke struck long-range efforts early on but both fell wide of the mark.
Gillingham had a prime opportunity to take the lead after 13 minutes when Nicky Southall's right-sided corner was met by Barry Ashby but Henry was on hand to head off the line.
City's link-up play down the left between Kris Commons and Marcus Hall ripped apart the Gills defence and created another chance on 17 minutes but Gifton Noel-Williams' header was misjudged and floated wide.
The visitors would have been disappointed not to have gone ahead at half-time. But thanks to two solid saves from Ed de Goey, both Patrick Agyemang and Chris Hope were denied to keep the scores level.
Stoke seemed to lose their rhythm after the break but Gillingham still failed to take advantage.
The Potters went close again in the 70th minute when Commons flashed another dangerous cross into the box that Wayne Thomas rose to meet but a fantastic save low down by Steve Banks prevented the goal.
Mamady Sidibe was left kicking himself ten minutes later after Agyemang played him clean through but the substitute fell over before he even had the chance to test de Goey.
After the game Gillingham player-manager Hessenthaler said: "It's been a long week and we just wanted to get today's game over with and what would have been would have been.
"Stoke have had a fantastic season and hopefully we can replicate what they've done next year for ourselves."