Aurélien Tchouaméni opened with a scorching long-range effort, Harry Kane equalised with a penalty but Olivier Giroud won the game with a bullet header.
The French will take on Morocco in the last four, after the Atlas Lions stunned Portugal 1-0 through Youssef En-Nesyri's goal.
Morocco now becomes the first ever African nation to reach the semi finals of a World Cup. Jean-Emile Jammine reports on the day's events with football consultant Karim Baldé and FRANCE 24's team in Doha, Simon Harding and Selina Sykes.
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