Alexander Zverev hails 'best' performance in months as he bags Madrid Open semi-final spot
Zverev's dominant ground game helped him overcome serve issues as he beat the Canadian 6-3 7-5 in just under two hours.
The German seemed on course for a routine victory after taking the opening set with relative ease. The current world number three then went 4-1 up in the second, but failed to build on his advantage as Auger-Aliassime produced his first break and began to make inroads.
"I think this was maybe the best match of the last few months from my side, except maybe the end a little bit," Zverev told atp.com. "Throughout one-and-a-half sets I played good tennis and I hope I can continue playing this way."
Looking back, Zverev explained: "I couldn't put a serve in the court. I had chances to go up 5-1 in the second set and I think the match would have been over. But I didn't use my chances and he fought back well. But I kept fighting as well, and that's how I got the win."
Next up for Zverev is a clash against Stefanos Tsitsipas - a rematch from the recent Monte Carlo semi-final, which saw the Greek player come out on top.
"I think I need to play my best level to have a chance, but I'm looking forward to this match because in Monte Carlo he beat me quite easily. I hope I can change that."
READ MORE: Who is 'new Rafael Nadal' Carlos Alcaraz and how many Grand Slams will he win?