But they got off to the worst possible start when the R's took the lead through Martin Rowlands after just six minutes.
The midfielder swung a free-kick into Steve Simonsen's near post and the goalkeeper failed to keep it out.
But Stoke went on to have the better of the first half and will have been disappointed not to be level at the break.
Rangers defender Sampsa Timoska did well to deny Ricardo Fuller on the goalline after the striker had rounded home keeper Jake Cole on 13 minutes.
And Stoke came even closer four minutes from half-time when substitute Lee Martin hit a screamer against the post from the edge of the box.
At the other end, Rangers were unlucky not to get a penalty when striker Marc Nygaard seemed to be brought down by at least two defenders in the box a minute later.
But Stoke went on to control the second half just as they did the first and had a host of chances to draw level.
On 48 minutes, Dominic Matteo was left holding his head in his hands after missing a sitter from a yard out following a Carl Hoefkens corner.
And on 65 minutes, Stoke captain Danny Higginbotham saw his headed goal ruled out for offside.
But Rangers completely lost their way when Timoska was sent off for a second booking four minutes later, and Mamady Sidibe was on hand to tap home the eventual equaliser six minutes from time.
However, that was not enough to edge Tony Pulis' side into the top-six and they will be spending another year in the Championship.