The tie was settled by a stoppage-time Kai Havertz goal in the first leg after the second leg at the Emirates on Wednesday night ended goalless.

The Gunners will now play Atletico Madrid in the last four after their sensational 3-2 aggregate victory over La Liga rivals Barcelona.

The other semi-final sees Paris Saint-Germain take on Bayern Munich. The French team overcame Liverpool 4-0 on aggregate as Bayern edged Real Madrid 6-4.

Reflecting on the angst-ridden encounter, Gunners head coach Mikel Arteta admitted he was relieved to have progressed despite not being at their best.

"We are not perfect, we recognise that, but there is value in what the players have done," said Arteta on Flash Score.

"My message was gratitude for the effort they put in. There was a lot of work put in. We had to do it in a very special way, missing a lot of important players.

"We had many things that are important in getting a result. It is about how you compete and when you are trying to win titles that is what you need."

"It's a massive moment. To be part of those four teams is great work. It's a great night," the coach added.

"I'm very happy for all our people. We are making steps that haven't been done at this club for 140 years.

"We are going to have two magical nights against Atletico. The things Diego Simeone has done there are impressive. The tie is open for both teams."

Sporting head coach Rui Borges was, meanwhile, full of pride for his team despite their semi-final exit.

He said on Beinsports: "I can't say it hurts. It's an infinite pride in the team's ability and personality.

"In both games, I think we were superior to Arsenal, very honestly. They ended up being lucky to score a late goal [in the first leg], which allowed them to go through.

"For everything we did, I think we were better. Clear opportunities, the personality we showed in both games, in this extraordinary atmosphere.

“Pride is the right word to define this whole journey, this group. They deserved more, but we leave with our heads held high and happy about everything we were capable of."

"Very honestly, I think I couldn't ask for more. It's an infinite source of pride, and I'm very happy," he continued.

“Of course, we were sad because we really wanted to advance and continue to make history for Sporting, but other years will come. And Sporting will earn more and more respect.”

Arsenal squeak through to Champions League last four after tight Sporting tie