Let $\Omega \subset \mathbb R^n$ be bounded with Lipschitz boundary, and let $1\le p<n$. Then \begin{align*} W^{1,p}(\Omega) \hookrightarrow\hookrightarrow L^q(\Omega) \end{align*} for every $1\le q<p^*=\frac{np}{n-p}$. If $p=n$, then $W^{1,n}(\Omega) \hookrightarrow\hookrightarrow L^q(\Omega)$ for every $1\le q<\infty$. If $p>n$, then Morrey's inequality gives continuous representatives, and the embedding $W^{1,p}(\Omega) \hookrightarrow C^0(\bar{\Omega})$ is compact; more sharply, the embedding into $C^{0,\alpha}(\bar{\Omega})$ is compact for every $0<\alpha<1-n/p$.