Youri Tielemans scored a controversial last-gasp extra-time penalty winner for Belgium to complete an incredible 3-2 comeback victory against Senegal in the last 32 of the World Cup.


Goals from Habib Diarra and Ismaila Sarr saw Belgium trail 2-0 in the 86th minute, but Romelu Lukaku and Youri Tielemans two goals in three minutes gave the Belgian side extra time lifeline.


The game was heading to penalties when it took a controversial turn after Tielemans was brought down by Lamine Camara's 117th-minute challenge, and the referee gave a spot-kick after a seven-minute VAR review.


Tielemans then stepped up to slam home the penalty in the 125th minute, setting up a last-16 clash against USA in Seattle (Tuesday, July 7 at 1am Nigerian time).


Earlier, Belgium pair Kevin De Bruyne and Jeremy Doku were surprisingly taken off in the 56th minute - and it looked like it would be 35-year-old De Bruyne's last appearance at a World Cup.


However, his Napoli team-mate and half-time substitute Lukaku sparked an incredible comeback with four minutes of normal time remaining as he steered home Belgium's first shot on target.


Two minutes and 39 seconds later, Tielemans headed in with Belgium's second shot on target from Leandro Trossard's cross to stun Senegal.