Substitute Pascal Millien's 83rd-minute goal qualified Haiti for the 2016 Copa America Centenario after a 1-0 defeat of Trinidad & Tobago on Friday night.
With the win, Haiti earned an automatic bid to next summer's Copa America tournament held in the United States.
Haiti on Tuesday were dealt a blow when the federation announced that star forward Duckens Nazon would miss the match because his club, Stade Lavallois of French Ligue 2, would not release him for the non-FIFA date.
However Millien put those fears aside seven minutes from time, firing his country past their rival and into the tournament.
Meanwhile, Panama pounded Cuba 4-0 in the late match, similarly booking the Central American nation a trip to the Centenario.
Gabriel Gomez, Luis Tejada, Armando Cooper and Blas Perez did the damage for the Panamanians.