The 73-year-old complained of feeling unwell 10 minutes into the game.
A statement released by the club read: "He was attended by the club doctor and, as a precaution, was transferred to Ipswich hospital.
"The club has no further comment to make."
Sir Bobby continues to be involved in football saying "what would I do without it?", but he had a cancerous tumour removed from his lung in May.
And that was the third time he has had a cancer scare - having beaten the illness twice before, in 1992 and 1995.