Ibrahimovic, who scored twice against Auxerre in September's Group G opener, netted the first goal in the 64th minute before Ronaldinho added the second during injury time.
The result guaranteed Milan second place in the group as Ajax Amsterdam slumped to a 4-0 defeat against leaders Real Madrid.
Auxerre produced a convincing display in the first half as seven-times champions Milan appeared satisfied to wait for a defensive error from the hosts or a flash of inspiration from Ibrahimovic.
The French club piled on early pressure on to Milan's defence forcing goalkeeper Christian Abbiati to make several saves.
AC Milan had to wait until the 22nd minute for their first chance on goal with a Clarence Seedorf volley from the edge of the box.
Gennaro Gattuso almost opened the scoring for the visitors six minutes before the break when he took advantage of a missed pass by Adama Coulibaly but the Italian midfielder failed to find the target.
After the interval, both teams remained well organised and struggled to reached their opponents' penalty area until Ibrahimovic fired a powerful shot over goalkeeper Oliver Sorin and under the crossbar for his fourth Champions League goal of the season.
From then on, the Italians had the majority of possession and Brazilian striker Ronaldinho sealed victory with a curled shot in extra time, minutes after coming on as a substitute.
Milan have eight points in Group G, four ahead of Ajax in third, with one match to play. Real Madrid top the group on 13 points.
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