Kyle Lafferty netted twice for Rangers, but Motherwell scored twice in the closing stages to draw 3-3 at Ibrox.
Walter Smith's men had long wrapped up the league, so had little to play for apart from putting on a show for their fans in the final game of the season. Motherwell showed their comeback against Hibernian on Wednesday was no fluke as they scored twice in injury-time to nick a point.
However, the Edinburgh side's 2-0 win at Dundee United means that Hibs finish fourth and take the final Europa League spot.
But, if Dundee United win the Scottish Cup, Motherwell will earn European football next term.
The Scottish champions took the lead after 17 minutes, when Steven Davis set up Boyd in the box, and the SPL record scorer held off Stephen Craigan before turning and shooting past Motherwell goalkeeper John Ruddy.
Rangers could have added to their lead seconds later, but Kenny Miller mis-kicked in front of goal having been set up by Davis.
Lukas Jutkiewicz saw a header whistle over for the home side, whilst at the other end Craigan denied Boyd with a last-gasp tackle.
However, Lafferty scored the second for Rangers four minutes from half-time when he collected a cross from the right from Steven Naismith and shot left-footed past Ruddy.
Six minutes after the restart, Motherwell pulled one back, through Jamie Murphy, but when Lafferty netted his second on 70 minutes unmarked at the far post from a cross by substitute Nacho Novo, it seemed that Rangers had wrapped up the points.
However, Jutkiewicz scored a late penalty and Steve Jennings netted late into injury-time to give Motherwell a point.