Brazil are into the last four of the women’s soccer tournament after beating Australia 7-6 in a dramatic penalty shoot out on Friday night.

The teams were tied 0-0 after extra time at the Mineirao stadium in Belo Horizonte.

Marta, the five-times world player of the year, missed Brazil's fifth penalty of the shootout but Brazilian goalkeeper Barbara saved Australia's last spot kick from Katrina Gorry to take it to sudden death.

Tamires converted her kick before Alanna Kennedy missed hers to send the home fans into raptures.

Earlier favourites the United States crashed out after finding themselves on the opposite end of a penalty shoot out against Sweden - on a day of surprise and high drama.

Sweden eliminated the US, recording one of the sport’s biggest shocks by beating the holders 4-3 on penalties after the two sides drew 1-1 after extra time.

Germany, who beat China 1-0, and Canada, who overcame France by the same margin, also advanced to the semi-finals.

Melanie Behringer got the winner for Germany after 76 minutes while Wang Shuang missed a penalty for China with eight minutes to go.

Germany will face Canada in Belo Horizonte on Tuesday, after the North Americans progressed thanks to a 56th minute goal from Sophie Schmidt gave them victory over France.

Brazil will face Sweden in Rio de Janeiro on the same day.