The mysterious pseudogap phase of cuprate superconductors ends at a critical hole doping level p* but the nature of the ground state below p* is still debated. Here, we show that the genuine nature of the magnetic ground state in La2-xSrxCuO4 is hidden by competing effects from superconductivity: applying intense magnetic fields to quench superconductivity, we uncover the presence of glassy antiferromagnetic order up to the pseudogap boundary p* ~ 0.19, and not above. There is thus a quantum phase transition at p*, which is likely to underlie highfield observations of a fundamental change in electronic properties across p*. Furthermore, the continuous presence of quasi-static moments from the insulator up to p* suggests that the physics of the doped Mott insulator is relevant through the entire pseudogap regime and might be more fundamentally driving the transition at p* than just spin or charge ordering.