Andy Warrington was the hero saving two penalties as Rovers made the play-off final in dramatic fashion.
The keeper followed up his save from Daryl Clare's spot kick with the crucial stop to deny Dave Cameron and break Chester hearts.
Extra time had failed to separate the sides who were left to endure a nail biting end to the game.
Rovers had thought it was not to be their day as the first spot kick from Jamie Paterson was saved by Wayne Brown but four successful penalties, followed by Warrington's heriocs, sealed the win.
Normal time had seen Chester take the lead on 31 minutes when a poor defensive header left Wayne Hatswell with the simplest of chances.
Kevin McIntyre's free kick was nodded onto the post by Rovers' Steve Foster leaving the City defender to tap home from close range.
The second period began with the inevitable pressure from the visitors, but it was Chester who went closest to adding a second.
On 53 minutes Clare found himself in space but saw his shot well saved by Warrington.
Four minutes later Rovers levelled matters through Conference top scorer Paul Barnes' 26th of the season.
The striker was on hand to bundle the ball home after a shot had cannoned off the Chester bar.
The momentum seemed to be with Dave Penney's side who put pressure on the home defence who even began to argue amongst themselves.
Five minutes from normal time, striker Clare used neat footwork in the box to create an opening but was denied by Warrington as Chester themselves began to enjoy late possession.
And the keeper produced one final tremendous save to push Cameron's goal bound effort just around the post and send the game into extra time and then finally penalties.