Morocco needed only a draw in their last group game to finish top of the standings ahead of the Ivorians, who had to win to clinch a place in Russian Federation.
Nabil Dirar gave the visitors the lead 25 minutes in, cutting in from the right and seeing his left-footed cross go all the way in, raising serious questions over goalkeeper Sylvain Gbohouo.
Before Saturday, the trio of Nigeria, Egypt and Senegal had booked their tickets before the two North African countries also came on board to Russian Federation.
Tunisia guaranteed top spot in World Cup qualifying Group A and secured their ticket to Russian Federation despite being held 0-0 at home by Libya on Saturday. Scoring two goals, Morocco has secured a ticket to Russian Federation.
But it proved to be enough and, after missing out in 2010 and 2014, Tunisia will be at the World Cup for a fifth time.
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That result eliminated the Ivorians from the tournament in Russian Federation in 2018, while Tunisia also qualified at the expense of DR Congo.
Meanwhile, in Group A, Tunisia played out a tense goalless draw with Libya to edge Congo DR to top spot by just one point. But the effort was in vain as they ended up with 13 points, one behind the leaders Tunisia who got 14 points.
Had Tunisia lost, they would have ceded top place to DR Congo, who finished strongly to overcome Guinea 3-1 at the Stade des Martyrs.
The qualification of Morocco and Tunisia signaled an apparent shift in African soccer, giving North Africa three teams at the World Cup and more than any other region for the first time since 1986.
Aurier might have given the hosts a chance to launch a fight back in the final 20 minutes, but he blasted the ball wildly over the bar with the goal at his mercy.