Jermain Defoe's recall to the starting lineup paid off when the diminutive striker fired England ahead in the 23rd minute of a match his rejuvenated team dominated in an more entertaining reversal of their stuttering World Cup form.
GEAR:10% off England WC shirts
The win gave England the second qualifying berth, with the United States' last-gasp 1-0 victory over Algeria earning them top spot and condemning Slovenia, who had led the group, to an early exit along with the Algerians.
"We play together, we fight together. I'm really, really happy," he said. "I've again found the team I know. We can go forward against all the teams because the players' minds now are free, without fear, without doubt."
Capello's decision to start Defoe and Milner paid off immediately as the pair linked up with Steven Gerrard, Frank Lampard and Wayne Rooney to put England in the driving seat.
Rooney, Lampard and John Terry all came close in a frenetic opening half hour and England's pressure finally paid off when Milner broke free on the right and superbly picked out Defoe.
"It's important to keep the spirit, which we have done, and it showed tonight," said man of the match Defoe.
"There was real determination from the group and you could see that from the way we played," Lampard said. "We could have scored a few more goals. Everyone was terrific."
Slovenia coach Matjaz Kek was stunned by his side's elimination after the late goal
