Ben House struck twice to ensure City will finish the 2025/26 season as champions of League One.
House scored once in each half to seal a win which means it is impossible for anyone else to finish above the Imps in the table in what has been an historic season.
Head coach Michael Skubala made one change, with Rob Street returning to the starting line-up against the club he helped to the League Two title last season while on loan with Rovers.
Both teams started brightly, with the home side claiming the first effort on goal after five minutes when Owen Bailey saw his shot blocked.
City's first clear chance came after 10 minutes when Sonny Bradley headed over from Ivan Varfolomeev's corner.
The Imps created chances more frequently, with Robbie Gotts booked for the home side after he unfairly stopped Jack Moylan's run.
George Wickens took the free-kick which went into the home area - Tom Hamer won the ball but his header was not enough to test Lo-Tutala who got down well to smother.
A nice move down the right saw Street flick the ball on for run of Hamer, whose first time right-footed cross was into a dangerous area but again well collected by Lo-Tutala.
Varfolomeev was next to go on a run and almost sent Oné through on goal. The on-loan forward kept his composure to turn and shoot, but Matty Pearson blocked behind.
The resulting corner was cleared by Rovers but the Imps kept the ball. A well worked, patient move ended with Moylan tripped in the area by Harry Clifton.
Street stepped up to take the spot-kick, but the impressive Lo-Tutala dived down to his right to tip the effort away.
Lo-Tutala was the busiest of the two goalkeepers, and was again out well to get to the ball ahead of Oné following Moylan's through ball.
A Varfolomeev free-kick from just past the half way line found Oné, who flicked the ball into the path of Street. The offside flag went up as he got his shot away.
City took the lead just before the interval when Moylan sent House through on goal. House calmly slotted the ball home with a first-time finish.
The Imps started the second period brightly as they searched for a potentially-decisive second goal.
Oné saw a shot blocked within 60 seconds of the restart, and Lo-Tutala was needed to save Street's shot with his legs after a Moylan run had got past several home defenders.
The ball was in the back of the net after Ryley Towler flicked on a Hamer throw, but referee Seb Stockbridge quickly ruled it out.
The home side, keen to spoil City's party, threatened through an Hakeeb Adelakun shot on the hour mark - though he could not keep his shot down.
Oné's last act of the match was a snapshot which was blocked by Lo-Tutala, before making way for Reeco Hackett as Michael Skubala looked to freshen up his attacking options.
Home boss Grant McCann made a double change of his own moments later, as he sought a way back into the game for his side, sending on Tom Nixon and Jordan Gibson.
The Imps continued to push, with a succession of corners leading to a Bradley header over
Hamer had two shots blocked after a deceptive short throw move, and Moylan let fly with a shot after cutting in from the right which sailed agonisingly wide of the left-hand post.
The second goal did come after 72 minutes, and again it came from a Hamer long-throw. This was flicked on by Street in the area and House stopped low to head home his second of the game.
And House almost completed his hat-trick after 80 minutes when a Hamer throw was sent towards him at the far post - with Lo-Tutala out quickly to avert danger.
That goal effectively sealed the game, with Street denied the goal his performance deserved when he saw the ball come crashing back off a post after 82 minutes.
There was a touching moment after 84 minutes when Street was replaced by Alfie Lloyd, with the home fans joining in the applause for a striker who had performed so well on the night and served the home side with distinction during his loan spell last season.
There were to be no more goals, but the Imps had done enough to seal a deserved three points and send almost 3,000 fans home on a high.
Imps: Wickens, Darikwa, Towler, Moylan (Bayliss, 78), McGrandles, Bradley, Street (Lloyd, 84), House (Jefferies, 84), Oné (Hackett, 62), Hamer (Elerewe, 78), Varfolomeev. Subs not used: Jeacock, Ring.
Rovers: Lo-Tutala, Sterry (Nixon, 64), Bailey, Pearson, Hanlan, Clifton (Gibson, 65), Lee (Robinson, 77), Gotts, Senior, Grehan, Adelakun (Middleton, 77). Subs not used: Clark, Broadbent, Byrne.
Referee: Seb Stockbridge.
Attendance: 10,241 (2,994 away).
