Police had to intervene to stop the attack, with corner flags and bottles thrown at the travelling support in yet another terrifying end of season pitch invasion.
Den Hag had led the second leg of their play-off tie by three goals after a 1-1 draw in the first leg, but somehow lost their advantage with just 12 minutes to play.
They then took the lead in the seventh minute of extra time, but Excelsior again hit back 11 minutes later, taking the game to penalties which they won 8-7.
The second division side from Rotterdam will compete in the Eredivisie next season, while Den Hag will remain in the Erste Division, which they only recently returned to for the first time in 12 years.
As Den Hag's Jamal Amofa missed the deciding penalty to confirm his side would miss out on promotion, supporters spilt onto the pitch at the Cars Jeans Stadion, heading straight for the away end.
Lit flares, a corner flag and bottles were then thrown into the section of travelling fans, with the local police having to intervene to stop the chaos, while at the same time ensuring the players could return to the dressing rooms unharmed.
The referee, Champions League regular Danny Makkelie, twice had to stop the match even before the chaos at full time, with fans twice spilling onto the pitch when they thought they had won.
League top scorer, 32-goal Thijs Dallinga had a 29th minute penalty saved by Den Hag's goalkeeper Hugo Wentges, and Makkelie opted for a 10 minute stoppage 'with objects flying onto the field'.
10-man Den Hag thought the game was over when Excelsior's Michael Chacon saw red in the second minute of stoppage time with his side losing 4-3, but an equaliser from Dallinga a minute later secured extra time.
Fans in yellow and green had already made their way onto the sidelines to celebrate after the red card was handed out, but were forced back into the stands following the equaliser.
Dutch national paper De Telegraaf described the game as 'an insane promotion cracker' in which Excelsior 'dragged promotion away from the gates of hell'.