St Mirren's dramatic late win against Ross County secured the "incredible achievement" of a third successive top-six finish in the Scottish Premiership.

Roland Idowu's 86th-minute strike settled a five-goal thriller and earned the Buddies the final top-half place.

The Paisley side were looking to capitalise on any slip-up by Hearts, but fell behind to County striker Ronan Hale's ruthless finish.

Caolan Boyd-Munce levelled from long range in the first half and set up Jonah Ayunga for a close-range strike early in the second.

Jordan White's header brought County level and looked as though it would give the visitors a valuable point.

But substitute Idowu had other ideas, fizzing a shot past Jordan Amissah and pushing St Mirren above Hearts, who drew 0-0 at Motherwell.

"It's an incredible achievement," said manager Stephen Robinson. "To achieve this level of consistency with the resources we have, it's an outstanding achievement from everybody at the football club."

Don Cowie's visitors remain 10th, below Kilmarnock on goal difference, a point above Dundee and six clear of bottom side St Johnstone.

St Mirren were guilty of not clearing their lines at the County opener after Zac Ashworth's cross. Connor Randall nodded across for White, whose effort and that of Josh Nisbet were blocked before Hale lashed the ball past Zach Hemming.

Hale threatened again with a shot and Nohan Kenneh also tested Hemming before the hosts levelled.

Boyd-Munce picked up from Ayunga's lay-off outside the box and drilled an effort beyond Amissah.

Now it was St Mirren creating the chances and Mark O'Hara lifted one over before another Boyd-Munce effort was blocked by Amissah.

The balance of play had shifted and the Buddies kept up their momentum after the break with Boyd-Munce's superb pass finding Ayunga and the striker scoring at the second attempt after Amissah had come off this line.

Ashworth also played a role in the second County goal, his deep corner from the right headed back across goal by White and crossing the line despite Boyd-Munce's attempted clearance.

But St Mirren were not to be denied and the home support erupted in celebration after Idowu's precious winner.

Robinson was adamant pre-match that just breaching 40 points for a third season running would be a remarkable achievement regardless of which half of the table St Mirren finished in. But being among the league's elite again will be very satisfying for the Paisley faithful.

Had Hearts held on to sixth place, the Premiership's six wealthiest clubs would have finished the season playing each other but St Mirren and Robinson have upset the apple cart and will now have a say in the race for Europe.

The Buddies qualified for Europe last term by finishing fifth and repeating that feat may be a tall order with an eight-point gap to Aberdeen, who play their game in hand against Rangers on Sunday.

But St Mirren are definitely where they want to be.

Having contested the Premiership play-off final by virtue of finishing second bottom in the previous two seasons, County are eager to just finish higher than 11th.

That is still within their gift but they are not yet assured of being above bottom place come the end of game 38.

And Hearts' presence in the bottom six will be most unwelcome for County and indeed all the sides battling to stay in the top flight.

St Mirren manager Stephen Robinson: "I'm delighted, I'm delighted with the group of players, I'm delighted that they've achieved this. Ultimately, over the course of the season you get what you deserve and we've deserved to be a top-six side."

Ross County manager Don Cowie: "At 2-2, we looked like the team that was maybe going to go on and win the game.

"At that point, it's important that you don't lose the game. You take the point and move on. That's the frustrating aspect of the game.

"We know where we are and we have to get ready for five really big, important games coming up. It's so tight. It'll be a challenge but we'll be ready for it."