Captain Fourie du Preez's late try put South Africa in the semi-finals of the Rugby World Cup as Wales suffered a heart-breaking 23-19 defeat in an enthralling encounter at Twickenham. 

Du Preez went over in the corner six minutes from time after a brilliant offload from Duane Vermeulen to shatter Welsh dreams after the outstanding Dan Biggar looked to have inspired Warren Gatland's side to a second successive World Cup semi-final. 

Gareth Davies scored Wales' own try - his fifth of the tournament - in the first half after being set up by the classy Biggar, who booted three penalties and a drop-goal in another brilliant display.

Handre Pollard kicked 18 points for the Springboks, but his exploits looked to be in vain until skipper Du Preez raced over to finally breach a stubborn Wales defence and settle a brutal quarter-final.

Two-time champions South Africa will now face either New Zealand or France in the final four back at Twickenham next Saturday as they continue to gather momentum following their sensational defeat to Japan.

Injury-hit Wales will be left to lick their wounds as their wait to win the Webb Ellis Cup for the first time goes on.  

Wales made a bright start, but it was the Springboks who were first on the board courtesy of a Pollard penalty after George North went into a ruck off his feet and the fly-half added another three points 13 minutes in.

Biggar got Wales up and running with a penalty of his own, but the accurate Pollard responded by making it three out of three from the tee.

Wales were playing a more expansive game and responded immediately when the brilliant Biggar chased his own towering kick and plucked the ball out of the sky before feeding Davies, who was again on hand to go over yet again after 18 minutes.

Biggar converted, but Wales were not in front for long as Luke Charteris was penalised for obstruction and the clinical Pollard made it 12-10.

It was Biggar who had the final say of a gripping first half, though, slotting over a drop-goal after his long-range penalty hit the post to make it 13-12 at the break.

Wales were given a let-off when Pollard missed from the tee early in the second half and Biggar made no mistake as he put a penalty straight through the posts to make it 16-12. 

The Springboks then put Wales under immense pressure, with Schalk Burger producing a storming display, and Pollard reduced the deficit to a point with a drop-goal but missed another penalty as the tension mounted.

Pollard took his tally to 18 points with yet another penalty, but the game continued to swing one way and then the other as Biggar booted Wales 19-18 in front 16 minutes from time.

There was one final twist, though, as Vermeulen brilliantly offloaded to skipper Du Preez, who raced away into the corner to stun Wales and put the Springboks in the last four.