Second-half goals from Hal Robson-Kanu and Sam Vokes set up a semi-final tie with Portugal after Wales captain Ashley Williams had cancelled out Radja Nainggolan’s superb early strike.

By reaching the penultimate stage of the competition, Wales have matched the best performance by a British side at a European Championship.

Belgium, the number two side in FIFA's world rankings, dominated the opening stages of the game and were unlucky not to take the lead following a seventh-minute scramble.

Yannick Carrasco had a shot saved by Wayne Hennessey before Thomas Meunier and Eden Hazard saw their rebounds blocked excellently on the line by Neil Taylor.

The deadlock was broken though six minutes later as Nainggolan received the ball from Hazard on the edge of the area before unleashing a fierce shot that Hennessey was unable to prevent from finding the top corner.

Wales came close to equalising in the 26^th minute when Taylor was denied by the diving Thibaut Courtois following Aaron Ramsey’s cut-back to the edge of the six-yard box.

The leveller did arrive on the half-hour mark as Williams, a doubt for the game with a shoulder injury, found himself free in the penalty area to head home Ramsey’s corner.

Real Madrid star Gareth Bale threatened to put Wales into the lead shortly afterwards but was unable to guide his shot past Courtois after breaking from the half-way line.

Belgium appeared the most likely team to score immediately after half-time with Romelu Lukaku failing to find the target with a golden headed chance. 

It was Wales, however, who scored the third goal of the game in the 55^th minute when out-of-contract forward Robson-Kanu received a pass from Ramsey with his back to goal before turning superbly and placing the ball past Courtois. 

Belgium strived to score an equaliser that would have taken the game to extra-time with substitute Marouane Fellaini putting a simple header wide from six yards.

Wales held on though and their victory was sealed on 85 minutes as Vokes, on for Robson-Kanu, headed Chris Gunter’s cross from the right across Courtois and into the net. 

One disappointment on a historic night for Wales was a second booking of the tournament for Ramsey after he handled the ball in the 75th minute.

Both he and Ben Davies, who was also booked, will miss their country’s semi-final against Portugal which is scheduled to take place on Wednesday (July 6) at the Stade de Lyon.