Taylor's strike, 12 minutes from time was enough to secure victory and send AFC Wimbledon, whom were formed in 2002 into League One for the first time in their short history. Akinfenwa netted a spot kick deep into injury-time to double the lead.
They will travel to Bramall Lane next season as well as face arch enemies MK Dons.
Congratulations to AFC Wimbledon.
Picture: AFC Wimbledon's Lyle Taylor (right) scores his side's first goal of the game during the Sky Bet League Two Play-Off Final.