Defending champions the United States crashed out of the World Cup as Sweden’s Lina Hurtig scored the decisive penalty in a dramatic shootout.

Sweden reached the quarter-finals after defending resolutely for long periods during a goalless extra-time draw.

The US had the initiative during penalties when Nathalie Bjorn sent her effort off target and Rebecka Blomqvist saw hers saved by Alyssa Naeher but failed to capitalise, with Megan Rapinoe and Sophia Smith both missing the target.

The all-important moment came when Kelley O’Hara hit the post before Hurtig’s effort was initially saved by Naeher, only for the ball to cross the line on the way back down – with goal-line technology sending Sweden through after a delay.

The US dominated the first half but goalkeeper Zecira Musovic came to Sweden’s rescue to deny Trinity Rodman and Lindsey Horan headed against the crossbar.

Sweden failed to register a shot on target in the first 45 minutes and the second half followed a similar pattern as Vlatko Andonovski’s side dominated possession, only to waste chances from Lindsey Horan and Alex Morgan.

Sweden almost nicked it with their first shot on target in the 85th minute as Sofia Jakobsson found herself in space inside the area but unleashed an effort straight at Naeher.

The US almost snatched a late winner of their own when Morgan directed a header on target but Musovic was on hand yet again to deal with the danger.

The four-time winners continued to dominate in extra time but were repeatedly denied by the brilliance of Musovic, who parried away Lynn Williams’ cross-shot and deflected behind Megan Rapinoe’s follow-up.

Wave after wave of US attack continued to pepper the Swedish defence and Smith’s powerful angled shot from close range was turned behind by Musovic before Sweden sent the Americans out before the last-four stage for the first time in their history.