The Premier County beat the Banner in the Championship play-off in Ennis on a final scoreline of 2-15 to 12 points.
Cian Darcy and Dylan Walsh scored the goals, both of which came late in the game…Tipperary had led throughout the match but Clare were never too far behind.
Tipperary will now go on to meet Cork in the Munster semi final next month.
Tipp manager Liam Cahill says his side improved from their first outing against Waterford.
