Paris Saint-Germain will play Arsenal over two legs for a place in next month's Champions League final after the north Londoners dispatched holders Real Madrid 2-1 at the Santiago Bernabeu.
Arsenal went into the second leg in Madrid on Wednesday night leading 3-0.
Twelve minutes into the game, French referee François Letexier awarded a penalty to the visitors after Raúl Asencio fouled Mikel Merino.
But Bukayo Saka fluffed the chance to extend the aggregate advantage. Madrid goalkeeper Thibaut Courtois saved the spot kick to maintain Madrid's hopes of a remontada – comeback.
Midway through the second-half, Saka atoned for his sins with a dinked finish over Courtois to effectively eliminate Madrid.
And though Vinicius Junior capitalised on a defensive slip-up to level the match a few minutes later, Gabriel Martinelli capped Arsenal's dominance over the two legs with a goal in stoppage time.
“There was a lot of talk about Real Madrid coming back, because they’ve done it so many times before," said Arsenal midfielder Declan Rice.
"But we had so much belief and confidence from that first game to come here and win and now we’ve done it in real life.”
Pride
Rice's boss, Mikel Arteta added: “This is one of the best nights in my football career, for sure. It’s a really special victory against a team that has been an inspiration for a lot of us in this competition.
"To win this tie in the manner that we have, we can be very proud.”
Madrid boss Carlo Ancelotti, who has steered Madrid to three Champions League crowns, conceded his side had been outclassed.
“We have to hold our heads high because we did very well in this competition in recent years,” said the 65-year-old Italian.
"This year we have to endure and suffer. In sport, this can happen because there are no invincible teams. We have to learn from this defeat and fight for the next game.”
The 5-1 aggregate victory allows Arsenal to compete in the last four of European club football's most prestigious tournament for the first time since 2009.
They will take on PSG who have been in the semis four times over the past six seasons.
Inter Milan advanced to a semi-final clash with Barcelona, after a 2-2 draw with Bayern Munich at the San Siro on Wednesday night to progress 4-3 on aggregate from their quarter-final.
Inter will travel to Barcelona for the first leg on 30 April. Arsenal will host PSG on 29 April at the Emirates Stadium in north London.
The Champions League final takes place at the Allianz Arena in Munich on 31 May.
