Frosinone were relegated from Serie A after they lost 1-0 at home to Udinese and Empoli scored a stoppage-time winner through M'Baye Niang to prevail 2-1 against visiting AS Roma on Sunday.
Relegation-threatened Udinese beat Frosinone with a late Keinan Davis goal, sealing their opponents' fate, as Empoli maintained their top-flight status thanks to halftime substitute Niang with their fans pouring onto the pitch at the end.
Roma's Houssem Aouar had cancelled out Matteo Cancellieri's goal for Empoli that had given the hosts a 13th minute lead.
But Niang's last-gasp strike saw Empoli remain in the top flight for three seasons in a row for the first time.
Roma, meanwhile, finished sixth on 63 points and will play in the Europa League next season alongside seventh-placed Lazio, who drew 1-1 at home to Sassuolo and end on 61.
Distraught Frosinone finished a point behind Empoli and joined bottom side Salernitana, who were consigned to the drop last month with a 3-0 loss at Frosinone, and Sassuolo, whose fate was decided last weekend after a 2-0 defeat by Cagliari.
Frosinone, promoted last season having clinched the Serie B title, have been relegated straight away once more after finishing 19th in 2015-16 and 2018-19.
Champions Inter Milan drew 2-2 in a lively encounter at Hellas Verona in their final game of the season thanks to a Marko Arnautovic double.
The Austrian gave Inter an early lead but Verona, who secured their top-flight safety on Monday with a 2-1 win at bottom side Salernitana, challenged Simone Inzaghi's team from the start.
Tijjani Noslin levelled in the 16th minute after being perfectly set up with a cross inside the box by Tomas Suslov, who put the home side in front himself before Arnautovic equalised in first-half stoppage time from close range.
Inter's Alexis Sanchez thought he had scored a stoppage-time winner when he lobbed goalkeeper Simone Perilli but his effort was ruled out for an offside.
Inter finished on 94 points, 19 above second-placed AC Milan, with Juventus third on 71.
Fourth-placed Atalanta have 69 points and one game to play at home to Fiorentina next Sunday.