Kaiserslautern, the four-time German champions, ended top of the table despite needing a last-gasp equaliser to draw 1-1 against third-placed Augsburg.
St Pauli, the Hamburg club with some of Germany's most loyal fans, held on to second place, despite their 2-1 defeat to Paderborn.
Augsburg will take on the Nuremberg, who finished third from bottom in the Bundesliga, in a two-match relegation play-off.
Hertha Berlin and VfL Bochum were relegated from the Bundesliga.
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