England was once again unconvincing in Dusseldorf and fell behind to Breel Embolo's 75th-minute opener, only for Bukayo Saka to level shortly after with a stunning strike that pushed the tie into extra-time.

Penalties followed at Dusseldorf Arena as Jordan Pickford denied Switzerland's first spot-kick from Manuel Akanji, before Trent Alexander-Arnold coolly slotted in the winning effort to seal a last-four place with a 5-3 shootout win.

Since UEFA Euro 1996, England has played 11 knockout matches at the European championships and eight of those have gone to extra-time, including the most recent four matches.

That may be apportioned to its battling nature, an aspect manager Southgate referenced after a nervy victory in his 100th national game in charge of the senior side.

"I thought the players were brilliant, it is the best we have played," Southgate said. "To come from behind and show character and resilience we did... it isn't just about playing well.

"Huge performance, huge result and we are still in it. We had to be tactically spot on. We are in a third semi-final and it says a lot about the whole group. I thought we had good control."

England had lost more shootouts than any other nation across the FIFA World Cup and European championships (seven), but responded emphatically by converting all five attempts in Dusseldorf.

Saka knows all too well about spot-kick heartbreak, having missed in the UEFA Euro 2020 final against Italy, and Southgate lauded his response after firing past Yann Sommer in the shootout.

"It was so brave from Bukayo, he is one of our best and we were never in question he would take one. But we all knew what he went through," Southgate continued, alluding to the treatment Saka received from the media after his previous heartbreak.

"We have done a lot of work on it. We've won three out of four shootouts now," Southgate added.

"In the end the players have to do it and deliver. For players to come into the game and do what they did, for someone like Bukayo having been what he's been through to go through that pressure [is great]."

Southgate said later he is fighting for England to "regain credibility" on the international stage. 

"Every now and then you think, 'Surely there has to be some enjoyment in this job?'," he said. 

"So if I can't enjoy that moment, then the whole thing is a waste of time."

Having come under fire for their performances in Germany, Southgate detailed his sole aim when taking the England job back in 2016.

"I love the players, I love being in that moment with them. I took this job to try and improve English football," he said.

"I wanted us to regain credibility on the world stage. So I can't deny that when it's as personal as it's been in the last few weeks on a human level, that's quite difficult.

"But we're fighting. We're not going to stop fighting. As I said, we're in another semi-final and we'll see where we can get to."

Jude Bellingham was one of the five penalty takers entrusted to send England through to the semi-finals. 

Bellingham followed Cole Palmer in putting the ball past Yann Sommer, then Saka, Ivan Toney and Alexander-Arnold kept England perfect in the shootout. 

"These moments are even more special, or only special, if you go on to win the next game and hopefully win the tournament," Bellingham said.

"It's moments like these that you look back on and make it even more worth it. It all becomes worth it if you can back it up and that's what we have to do in the next few days."

"All in all, it's probably our best performance of the tournament. We are very proud of the boys.

"The things you can't always measure and see is character and mentality and we showed that again in the shoot-out. For subs to come on and take a penalty in that pressure is a special, special thing."

Harry Kane endured another quiet outing, failing to register a shot on target before being removed in extra-time, although the England captain has faith in whoever Southgate selects.

"Another tough game and first of all great resilience from the lads to turn it up again," Kane said.

"To get the goal, a fantastic finish from Bukayo Saka. Penalties are penalties, but I felt prepared – I was on the side, but I felt comfortable in the lads. Five out of five and a save from Picks [Pickford].

"We trust in whoever is on the pitch and the difference this year compared to past years is we have proven penalty takers – we have a lot more experience and we showed it out there."