Holders the United States overcame hosts France to book a semi-final date with England at the Women's World Cup.

Megan Rapinoe scored a goal in each half for the USA, the first a low free-kick that went in through a crowd of players, the second a side-foot finish.

France did not manage a single shot on target in the first half but Wendie Renard's late header gave them hope.

Les Bleues then had appeals for a penalty waved away after Amel Majri's cross struck Kelley O'Hara's arm.

The United States, who have never failed to reach the Women's World Cup semi-finals, will face Phil Neville's Lionesses in Lyon on Tuesday. 

The result also means there will be a Great Britain women's team at Tokyo 2020 because England are guaranteed to be one of the top three European teams at the World Cup.