Gloucester 25-26 Leicester
Gloucester (12) 25
Tries: Simpson-Daniel
Cons: Lamb
Pens: Lamb 5
Drop-goals: Walker
Leicester (3) 26
Tries: Tuilagi, Mauger
Cons: Goode 2
Pens: Goode 3
Drop-goals: Goode
By James Standley
Goode's late intervention means Leicester head to Twickenham
Defending champions Leicester fought back from a 12-3 half-time deficit to earn a Premiership final against Wasps.
Four Ryan Lamb penalties put Gloucester in control before Alesana Tuilagi's try gave Leicester some hope.
James Simpson-Daniel's try restored the hosts' nine-point lead but Leicester went in front through Aaron Mauger's converted try and a Goode kick.
Willie Walker's drop-goal put the hosts back in front but Goode landed a 78th minute drop-goal to see Leicester home.
It was an extraordinary fightback by Leicester, who despite being reigning Premiership champions went into the game as big outsiders.
Whereas Gloucester topped the regular-season table for the third time in six years, Leicester required a last-gasp Tom Varndell try against Harlequins just to scrape into the play-offs in fourth place.
No away side had ever won a play-off semi-final, and when Gloucester dominated the first 40 minutes it looked extremely unlikely that Leicester would break the mould.
Gloucester could not cross the Leicester line in the first half, but that was down to a combination of brave defence and cynical play by the visitors.
Two Lamb penalties to one from Goode - who also missed a simple effort - saw the hosts lead just 6-3 after quarter of an hour.
But Leicester lost Jordan Crane and Harry Ellis to yellow cards and two further Lamb penalties gave Gloucester a 12-3 advantage at the break.
After their 44-16 battering by Leicester in the 2007 final, Gloucester had added plenty of brawn in the likes of Akapusi Qera and Lesley Vainikolo so they could compete on level terms with the powerful Tigers.
It looked as though the new-look Cherry and Whites were going to avenge last year's defeat, but Leicester dug deep to produce one of the most compelling halves of rugby seen all season.
The two fly-halves kicked a penalty apiece before Tuilagi, who destroyed Gloucester in last year's final, battered his way through three tackles to score in the corner, with Goode converting.
That cut the gap to just two points but Gloucester hit back when the superb Qera sent Simpson-Daniel, who played outside centre in place of the absent Mike Tindall, cruising over.
Lamb added the extras to make it 22-13 with an hour played.
The hosts seemed poised to stretch clear but panic in defence after a poor Lamb kick saw Iain Balshaw throw a pass onto his own posts and Mauger pounced to score as simple a try as he will ever collect.
Goode's conversion cut the gap to two points and he landed a 67th-minute penalty to put them 23-22 ahead, the first time they had been in front all game.
It was a remarkable recovery but a ***anic struggle kicked up a gear as the game approached the final whistle.
With five minutes to go the hosts worked a position for Walker to nudge them back into a two-point lead and send the Gloucester hordes at a packed Kingsholm delirious, but Leicester were not going to be denied an historic victory.
They engineered a chance for Goode and the fly-half drilled his drop-kick between the posts to send the champions to Twickenham to meet long-term rivals Wasps for the right to be crowned 2008 champions.
Gloucester: Walker; Balshaw, Simpson-Daniel, Allen, Vainikolo; Lamb, Lawson; Wood, ***terrell, Nieto, Bortolami (capt), Brown, Strokosch, Qera, Delve.
Replacements: Azam, Forster, James, Narraway, Cooper, Foster, tbc.
Leicester: Murphy; Varndell, Hipkiss, Mauger, Tuilagi; Goode, Ellis; Stankovich, Davies, White, Wentzel, Kay, Corry (capt), Herring, Crane.
Replacements: Chuter, Ayerza, Blaze, Croft, Laussucq, Vesty, Erinle.
Referee: Dave Pearson (RFU)