There were only 83 seconds left to play at Leigh Sports Village when Sembrant fired home on the rebound from six-yards following former Manchester City winger Kosovare Asllani’s corner.
It was heart-breaking for Belgium, who have another ex-City player in their ranks in the form of Tessa Wullaert, but Sweden will feel it was a deserved winner after dominating the contest from start to finish.
Angeldahl, who completed 84 minutes before being replaced by Hanna Bennison, was at the heart of much of her team’s best play.
She forced two excellent saves from Nicky Evrard. The first was a low 25-yard drive, which the Belgium goalkeeper was at full stretch to turn around the post, whilst the second saw the Red Flames No.1 tip a dipping 30-yard effort over the bar.
Sweden, who had a Stina Blackstenius’ strike ruled out for offside by VAR in the first half, registered 33 shots to Belgium’s three, with Evrard also making a fine stop to deny Blackstenius from point-blank range.
Their patience was eventually rewarded in the most dramatic circumstances to set up a last four tie against England at Bramall Lane on Tuesday.