The Three Lions made their first showpiece for 55 years thanks to Harry Kane’s extra-time goal against Denmark, which was the rebound off his own saved penalty.
Earlier on a tense night at Wembley, Danish captain Simon Kjaer inadvertently put through his own net after the visitors had taken the lead through a stunning Mikkel Damsgaard free-kick.
In the first semi-final, Italy beat Spain on penalties, with Dani Olmo and Alvaro Morata both missing in the shootout for Luis Enrique’s side.
Morata had earlier come off the bench to equalise for the Spanish with 10 minutes of the original 90 left at Wembley, cancelling out Federico Chiesa’s excellent finish.
Here is how the semi-finals played out...
Euro 2020 semi-finals fixtures and results
Tuesday July 6
8pm: Italy 1-1 Spain, AET, 4-2 on penalties, Wembley Stadium, London
Wednesday July 7
8pm: England 2-1 Denmark, AET, Wembley Stadium, London
Euro 2020 quarter-finals fixtures and results
Friday July 2
5pm: Switzerland 1-1 Spain, AET, 1-3 on penalties, Saint Petersburg
8pm: Belgium 1-2 Italy, Munich
Saturday July 3
5pm: Czech Republic 1-2 Denmark, Baku
8pm: England 4-0 Ukraine, Rome
Euro 2020 last-16 fixtures and results
Saturday June 26
5pm: Wales 0-4 Denmark, Amsterdam
8pm: Italy 2-1 Austria AET, Wembley
Sunday June 27
5pm: Netherlands 0-2 Czech Republic, Budapest
8pm: Belgium 1-0 Portugal, Seville
Monday June 28
5pm: Croatia 3-5 Spain AET, Copenhagen
8pm: France 3-3 Switzerland (Switzerland win 5-4 on penalties), Bucharest
Tuesday June 29
5pm: England 2-0 Germany, Wembley
8pm: Sweden 1-2 Ukraine AET, Glasgow