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England captain Harry Kane missed a late penalty as Les Bleus squeezed through.
Kane cancelled out Aurelien Tchouameni's first-half opener with a 54th-minute penalty but could not repeat the feat in the 84th, blazing his effort high over the bar.
In between the spot-kicks, Oliver Giroud's 78th-minute headed goal, which took a slight deflection off the shoulder of Harry Maguire, had given France an advantage that proved decisive as the defending champion advanced to the last four.
1 - France are the first reigning champion to reach the World Cup semi-finals since Brazil in 1998. Samba. #ENGFRA pic.twitter.com/hOxxRK50dw
— OptaJean (@OptaJean) December 10, 2022
France will be the heavy favourite to continue it march towards back-to-back title when it faces the Atlas Lions, who became the first African or Arab side to make the last four of a World Cup by defeating Portugal 1-0.
England controlled possession and territory for long periods at Al Bayt Stadium but ultimately came up short with the game on the line.
France skipper Hugo Lloris made a number of impressive saves before and after he was beaten by his Tottenham teammate Kane from the spot, while Harry Maguire went close with a late header that flashed wide before substitute Marcus Rashford fired a free-kick onto the roof of the net with the final meaningful kick of the game.
Kylian Mbappe was well marshalled by Kyle Walker but France managed to do enough to progress as it bids to become the first team since Brazil in 1962 to successfully defend its title.