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After a quiet start Watford threatened first with an Allan Nielsen header from Neal Ardley's cross, but Andy Marshall made a good block.
Town went ahead after 23 minutes when Tommy Miller fired a 25-yarder into the top corner of the net.
Alec Chamberlain then pulled off a good block to deny Hermann Hreidarsson before plunging to his right to hold another Miller drive.
Ipswich's pressure paid off five minutes before the break with a fine second - Richard Naylor firing a 20-yard shot home after excellent work from strike partner Pablo Counago.
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But he made amends five minutes after the break, racing on to Heidar Helguson's flick to coolly slot past Marshall.
The Hornets then put a nervy home side under pressure, only for Town to regain their two-goal lead when Chamberlain could only parry a Miller shot, and Counago rolled the loose ball home.
Still Watford were not beaten and reduced the arrears again when skipper Neil Cox steered a fine header into the roof of the net from Ardley's 75th minute corner.
Clapham fired over on the break for Town, and a restless home crowd was only to rest easy when Bent pounced.
Bent held off Cox as a high ball was hammered forward, before turning to steer a left footed shot beyond Chamberlain.
Town flooded forward late on and only a good save from Chamberlain denied Fabian Wilnis a fifth goal, but Royle's men ran out deserving, if slightly edgy winners.