Teenage sensation Renato Sanches, who scored Portugal's goal and smashed home one of the penalties, said it was a "wonderful moment for the team and for me for scoring".
It will be the fourth time Portugal have reached the semi-finals in the last five European Championships.
Portugal have reached the last four without winning a single game within 90 minutes.
"People criticise us but we don't care, because we are in the semis," Sanches said.