Donyell Malen missed and Barcelona's Pedri slotted home to settle a gripping match in which the Netherlands came from behind three times to force the shoot-out.

Mikel Oyarzabal opened the scoring for Spain but Memphis Depay levelled from the penalty spot.

Oyarzabal grabbed Spain's second before Ian Maatsen rifled home to force extra-time.

Barcelona starlet Yamal, who also missed a penalty in the shoot-out, scored a brilliant goal to put Spain ahead but Xavi Simons netted another spot-kick to force penalties.

After Spain's struggles in Rotterdam on Thursday in the 2-2 first-leg draw, coach Luis de la Fuente made a handful of changes.

Oyarzabal and Dani Olmo came in for Alvaro Morata and Pedri, while Dean Huijsen made his first start, against the country of his birth, and excelled.

Netherlands coach Ronald Koeman brought in debutant Maatsen at left-back, giving him the unenviable challenge of shackling 17-year-old prodigy Yamal at Valencia's sold-out Mestalla stadium.

Spain's success in recent years has inspired their supporters and over 20,000 watched them train ahead of the second leg, which also served as a fundraiser for damage caused by the devastating storms which hit the Valencia region last October.

They won a penalty early on when Jan Paul van Hecke clumsily brought down Oyarzabal, who scored the winning goal for La Roja in the Euro 2024 final last summer.

The Real Sociedad forward took it himself, smashing into the bottom right corner, past Bart Verbruggen's dive.

Oyarzabal beat the Brighton goalkeeper again a few minutes later with another lethal finish but had strayed offside after a superb dribble by Yamal in the build-up.

Verbruggen denied Nico Williams with a superb stop, after Huijsen stormed forward and slipped the winger in down the left, with Spain rampant but unable to add to their lead in the first half.

Bournemouth centre-back Huijsen, 19, was jeered by the travelling Dutch fans, upset he did not choose to play for them, but Spain supporters backed him in response and he shone.

- To the wire -

Netherlands steadied the ship and were able to keep more possession, but not test Spain goalkeeper Unai Simon until after the break.

Koeman's side levelled after 54 minutes with a penalty of their own when Depay, on his 100th Oranje appearance, threw himself to the ground after tussling with Robin Le Normand.

Despite the hosts' protests the contentious decision stood and Depay blasted home from the spot.

Spain's dynamic wingers helped restore their lead with a razor-sharp counter-attack.

Yamal released Williams, who drove into the box and slipped the ball to Oyarzabal. Although Verbruggen saved his attempted dink, the Spaniard headed home the rebound.

Netherlands responded swiftly, capitalising when Olmo gave the ball away inside his area.

Substitute Simons slipped a clever pass to Maatsen on the left and the Aston Villa defender brilliantly rifled into the top corner to force extra-time.

De la Fuente sent on Pedri and Arsenal's Mikel Merino, who salvaged Spain a draw in the first leg, and his team took the lead after 103 minutes.

Huijsen lofted the ball into Yamal's path and the winger controlled it on the run and beat Maatsen before pulling off an exquisite finish.

The Dutch battled back for a third time, with Simons winning and converting a penalty in the 109th minute. Spain goalkeeper Simon brought down the RB Leipzig attacker, who made no mistake from the spot.

Simon made amends with a smart save in the 120th minute to deny Donyell Malen, taking the tie to a shoot-out.

Both sides netted their first three penalties with great precision, before Netherlands' Lang hit the crossbar and Verbruggen saved a tame Yamal effort.

In sudden death Simon dived to his left to save from Malen and Pedri coolly sent Spain through to the semis.