South Africa came from 15-6 down to edge England by a point in a gripping second semi-final at Stade de France to progress to the Rugby World Cup 2023 final against New Zealand next Saturday.
England led the below-par holders right up until the 78th minute, where Handre Pollard's emphatic penalty saw the Springboks prevail by a single point.
A pair of Owen Farrell penalties inside the opening 10 minutes got England off to a dream start at the Stade de France.
Manie Libbok would cut the gap to 6-3 in the 21st minute but the Springboks troubles continued as England managed to get to the break with another Farrell penalty for a 9-3 lead.
Fly half Libbok was not in the mood with too many mistakes that Springbok head coach Jacques Nienaber could not tolarte as he withdrew him in place for Pollard at the half hour mark.
Pollard showed why he is the go to man when things fall apart by splitting the posts moments later for a 9-6 score.
However, the first half will still prove to be messy for South Africa as England captain Farrell ensured the English went to the breather with a six point advantage after adding a fourth penalty for a 12-6 half time score line.
In the final half, Farrell extended England's lead to nine with a terrific drop goal in the 53rd minute, but South Africa finally clicked into gear to set up an unmissable final 10 minutes with the first try of the night.
Pollard's sensational kick into the 22 preceded Faf de Klerk's pass to RG Snyman from a line-out, and England were powerless to prevent Snyman from forcing his way through before Pollard added the extras to trail 15-13.
Despite their enviable power in the scrum, South Africa elected to kick a 77th-minute penalty just inside the England half, and Pollard's tremendous kick sailed through the posts to propel South Africa into the lead for the first time in the semi-final.
With only two minutes remaining, there was simply not enough time for England to carve out a final kicking opportunity as South Africa held on to win.
A mouthwatering contest with New Zealand awaits in the final. [Additional reporting by World Rugby]