With the teams all square after five attempts each, Wilker Angel had his spotkick saved by Maxime Crepeau in the shootout and Ismael Kone buried the winning penalty to send Canada through.

Canada, who scored just one goal across their three group stage matches, began the match with uncharacteristic urgency and their pressure paid off in the 13th minute as Jacob Shaffelburg steered home a Jonathan David cross.

Venezuela found the equaliser in the 64th minute through leading goalscorer Salomon Rondon, who spotted Canada’s Crepeau off his line and produced an audacious lob that sailed over the scrambling goalkeeper into the empty net.

Canada will face defending champions Argentina in New Jersey on Tuesday for a chance to play in the July 14 final.