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.