Hull returned to Division Two and in doing so dented Yeovil's own promotion ambitions via the play-offs. The Tigers only needed a draw to be sure of going up but clinched victory in the 76th minute with a superb curled first-time effort from Ian Ashbee.
They had earlier gone ahead in the 11th minute when Adam Lockwood brought down Danny Allsopp in the box and Stuart Green converted from the penalty spot.
Yeovil scored when giant defender Hugo Rodrigues headed in a free-kick.
Yeovil: Collis, Lindegaard, Lockwood, Hugo Rodrigues, Pluck, Gall, Way, Johnson, Williams, Edwards, Daniel Rodrigues. Subs: Skiverton, Crittenden, Terry, Weatherstone, Northmore.
Hull: Myhill, Hinds, Joseph, Delaney, Dawson, France, Ashbee, Lewis, Elliott, Green, Allsopp. Subs: Musselwhite, Forrester, Thelwell, Walters, Price.
Referee: L Cable (Surrey).
