After a nervous start, the Gulls grew into the game and started to apply pressure, which nearly paid off in the 14th minute when a powerful shot from Brett Williams struck a post.
Luke Young forced a good save from Owen Evans and later went close with a couple of first-half free-kicks.
The Gulls started the second half purposefully and finally breached the visitors' defence in the 58th minute when skipper Aman Verma headed home a free-kick after Jordan Lee had been brought down by Mark Gray.
Giancarlo Gallifuoco had a goal disallowed in the 65th minute, but the Gulls ensured they will be back in the National League next season when Myles Anderson headed home two minutes from time.
Match report supplied by the Press Association.
Match ends, Torquay United 2, North Ferriby United 0.
Second Half ends, Torquay United 2, North Ferriby United 0.
Substitution, North Ferriby United. Jordan Douglas replaces Owen Evans.
Substitution, Torquay United. Shaun Harrad replaces Brett Williams.
Goal!  Torquay United 2, North Ferriby United 0. Myles Anderson (Torquay United).
Substitution, Torquay United. Sam Chaney replaces Jordan Lee.
Substitution, North Ferriby United. George Bell replaces Reece Thompson.
Substitution, North Ferriby United. Jordan Cooke replaces Taron Hare.
Substitution, Torquay United. Dan Sparkes replaces Jamie Reid.
Goal!  Torquay United 1, North Ferriby United 0. Aman Verma (Torquay United).
Second Half begins Torquay United 0, North Ferriby United 0.
First Half ends, Torquay United 0, North Ferriby United 0.
First Half begins.
Lineups are announced and players are warming up.
Torquay guaranteed another season in the National League with a well-deserved victory against relegated North Ferriby at Plainmoor.