Radja Nainggolan sent Belgium into a 13th-minute lead, but Ashley Williams equalised for Chris Coleman's side in the 31st minute, before Hal Robson-Kanu and Sam Vokes scored a second and third for the Dragons.

The last-eight victory means that Wales have reached the semi-finals of a major tournament for the first time in their history and will now take on Portugal on Wednesday night for a spot in the final of the European Championships.

It was Belgium that made the brighter start to proceedings and Wales centre-back Ben Davies picked out a yellow card in the fifth minute after stopping Kevin De Bruyne breaking into the final third.

Belgium had three excellent chances to take the lead in the seventh minute, but Yannick Ferreira Carrasco could not beat Wales goalkeeper Wayne Hennessey from close range, before Thomas Meunier had a shot blocked on the line. Eden Hazard also came close in the same phase, but the Chelsea attacker's effort was deflected over from close range.

Moments later, Romelu Lukaku came close to making contact from a whipped corner, before Wales had two chances of their own - Robson-Kanu heading over from close range and Gareth Bale hitting the side-netting with a fierce strike all inside the opening 10 minutes of action.

The opening goal was coming and it was Belgium that took the lead in the 13th minute of action when Roma midfielder Nainggolan found the top corner with a blistering strike from the edge of the box.

The card count continued to rise as the match developed and all three bookings in the opening 23 minutes came to Wales as Chris Gunter and James Chester joined Davies in the referee's notebook.

The Dragons should have been level in the 26th minute when Aaron Ramsey picked out Neil Taylor with cross from the right, but Thibaut Courtois got down low to save.

Wales were indeed level in the 31st minute, however, when skipper Williams escaped the attention of the Belgium defence to head a Ramsey corner into the back of the net from close range.

The relentless tempo would not let up and Romelu Lukaku just failed to make contact on a cross from Carrasco, before Bale forced a smart save from Courtois following a mazy run towards the edge of the Belgian box.

Belgium continued to struggle from set pieces in the latter stages of the first period and Williams headed over from another Ramsey corner in the 43rd minute of action as the teams headed down the tunnel at 1-1.

Belgium boss Marc Wilmots cut a frustrated figure at the interval and the 47-year-old made a half-time change as Manchester United midfielder Marouane Fellaini took the place of Atletico Madrid's Carrasco.

Romelu Lukaku had a wonderful chance to score a second for Belgium in the 48th minute after a cross from Meunier, but the forward somehow headed wide of the post from close range, before Hazard just missed with a curling effort.

It was Wales that scored the game's all-important third goal in the 55th minute, however, when Ramsey fed Robson-Kanu and the forward turned three Belgium defenders the wrong way before carefully placing his effort past Courtois.

Williams remained a threat from set pieces and had two half-chances to score a third for Wales either side of the hour, but Courtois kept out the Swansea City defender, who then fired a volley over the crossbar.

As expected, Belgium took control of the possession in the period that followed and should have levelled in the 74th minute when Toby Alderweireld picked out Fellaini with a cross, but the midfielder somehow headed wide.

Fellaini continued to win his aerial duels as the final 10 minutes approached, but everything was falling for Wales, who managed to survive a number of dangerous moments to keep their lead intact.

Belgium had a strong shout for a penalty in the 83rd minute when Nainggolan went down inside the box under a challenge from Williams, but the referee was not interested as Wales survived once again.

Wales scored a third in the 86th minute, however, when substitute Vokes headed a Gunter cross past Courtois to cap what was a famous night in the history of Welsh football.