Leicester finished 10 points clear at the top of the Premier League after Danny
Drinkwater's brilliant equaliser earned a 1-1 draw at Chelsea.
Kasper Schmeichel made several good stops to keep Sunday's game at Stamford Bridge goalless in the first half, but Cesc Fabregas' penalty put the hosts ahead in the 66th minute.
Drinkwater, who could be named in Roy Hodgson's England squad for Euro 2016 on Monday, levelled with a long-range effort in the 82nd minute.
The draw means the Foxes finish the season with just three defeats and a 10-point cushion over second-placed Arsenal, who leapfrogged Tottenham on the final day.
While Spurs and Arsenal both had something to play for, it was a day of celebration and farewells at Stamford Bridge.
In Guus Hiddink's last game in charge, the Foxes were given a guard of honour before kick-off and Claudio Ranieri received a special award from the club he managed between 2000-2004.
The champions were given a warm ovation by the home fans while the visiting supporters showed their appreciation for Eden Hazard the first time he touched the ball, giving the Belgian a round of applause for scoring the goal against Spurs that handed Leicester the title.
It was last season's champions who started the brighter, with Christian Fuchs fortunate to get away with a handball in the box and Pedro shooting just wide of the far post.
Leicester eventually got a foothold in the match and Jamie Vardy fired off target before beating Thibaut Courtois to a ball over the top but failing to finish.
There was another round of applause in the 26th minute as Chelsea fans showed their support for John Terry.
The defender has been offered a new deal at the club but is yet to sign, and he showed his appreciation by rising from behind the dugout to acknowledge the fans.
On the pitch, Chelsea finished the half on top but could not find a way past Schmeichel.
The Dane saved twice from Fabregas, keeping out a near-post strike and a deflected effort, and also pulled off a brilliant stop to keep out Willian's curling shot.
Leicester introduced Jeff Schlupp and Shinji Okazaki at the break while youngsters Tammy Abraham and Ruben Loftus-Cheek came on early in the second half for Chelsea.
The momentum swung back and forth before Fabregas broke the deadlock from the penalty spot after Schlupp was penalised for bringing down Nemanaja Matic.
Leicester had not threatened for a while but they finished strongly and, after the subdued Riyad Mahrez shot at Courtois, Drinkwater levelled with a fine strike from around 30 yards.
Abraham almost snatched victory for Chelsea when he fired across goal in the final minute but in the end it finished all square.
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Chelsea: Courtois (6), Azpilicueta (6), Ivanovic (6), Cahill (6), Baba (6), Fabregas (7), Matic (6), Pedro (7), Willian (6), Hazard (5), Traore (6).
Subs: Loftus-Cheek (5), Abraham (5), Tomori (5).
Leicester: Schmeichel (8), Simpson (6), Wasilewski (6), Morgan (7), Fuchs (6), Drinkwater (7), Kante (7), Gray (6), King (6), Mahrez (5), Vardy (6).
Subs: Schlupp (6), Okazaki (5), Albrighton (5).
Man of the match: Kasper Schmeichel.
Chelsea Courtois, Azpilicueta, Ivanovic (c) (Tomori 6), Cahill, Baba, Matic, Fabregas, Pedro (Loftus-Cheek 54), Willian, Hazard, Traore (Abraham 53)
Subs Not Used Begovic, Oscar, Pato, Kenedy
Goals Fabregas 66 (pen)
Leicester City Schmeichel, Simpson, Wasilewski, Morgan, Fuchs, Drinkwater, Kante, Gray (Okazaki 45), King (c) (Schulupp 45), Mahrez (Albrighton 80), Vardy
Subs Not Used Schwarzer, Amartey. Ulloa, Chilwell
Goals Drinkwater 82
Referee Craig Pawson