Immigration has been one of the key issues discussed at the debate.
Mr Miliband said he would control immigration both by blocking migrants from benefits for two years and by cracking down on unscrupulous employers paying foreign nationals below the minimum wage.
He said: “If you want a party that will cut Britain off from the rest of the world, that’s not me … But if you want a party with controls over immigration, that’s what I offer.”
Ms Sturgeon acknowledged that some parts of the UK were experiencing strain in the public sector and housing due to immigration, but added: “The answer is investing more in homes and public services and enforcing a decent minimum wage, not scapegoating immigrants.”
She said the Westminster parties were “driven by fear of Ukip, rather than a rational debate” and said: “Let’s make sure it’s a decent and civilised debate, not one driven by the intolerance of Nigel Farage.”
Mr Cameron said: “We do need immigration that’s controlled and fair. In recent decades it’s been too high and I want to see it come down.”
Mr Farage responded: “As members of the EU, what can we do to control immigration? Let me tell you – nothing.”
Mr Clegg insisted: “I will not spread fear about immigration. There is good immigration and bad immigration. We should remain a decent, open-hearted, generous-minded nation who welcome people who want to come here and play by the rules … I want Britain to be open for business, not open for abuse.”