Notts County's first goal in four matches consigned Cheltenham to a return to the Third Division.
Town, with a huge following, played with great spirit but were unable to find the back of the net.
The Robins applied early pressure and went close when defender Jamie Victory saw his effort come back off the bar.
The hard running of midfielder Martin Devaney saw Cheltenham enjoy further opportunities, the best two falling to captain Mark Yates with one in each half, the first a weak header which Saul Deeney got down well to at the foot of his right-hand post to make the save.
However, Magpies also enjoyed chances and took the lead shortly before the break.
Mark Stallard's pin-point cross from the right was met by Danny Allsopp whose flying header gave Cheltenham keeper Shane Higgs no chance.
Notts could have extended their lead but leading scorer Stallard miscued two 2 good opportunities before he was substituted, leaving the field to a standing ovation.
Magpies manager Bill Dearden afterwards commiserated with Cheltenham on their relegation fate after the Town players had taken a final salute from their fans.