Olivier Giroud's first-half strike proved the difference as Milan battled through to the Champions League last four with a 1-1 draw at Napoli to secure a 2-1 aggregate triumph.
Ismael Bennacer's goal last week at San Siro snatched a 1-0 quarter-final lead and Milan deservedly doubled their aggregate advantage in the first half on Tuesday in Naples.
Giroud had an earlier penalty saved by Alex Meret but made amends soon after with his 43rd-minute opener after Rafael Leao's incredible run to create the goal.
Victor Osimhen's stoppage-time strike offered Napoli hope after Khvicha Kvaratskhelia's 82nd-minute penalty was saved by Mike Maignan, but Milan held on to reach their first Champions League semi-final since 2007.
Matteo Politano twice whistled early efforts narrowly wide but the Rossoneri should have struck first when a clumsy Mario Rui lunge on Leao offered Milan a glorious chance from 12 yards.
Yet Meret guessed the right way to deny Giroud's spot-kick towards the bottom-right corner, before again thwarting the France veteran after another tame effort from a gilt-edged opportunity.
The Milan striker made no mistake next time round as Leao showed a remarkable turn of pace down the left before rolling across to Giroud for the simplest of tap-ins.
Victor Osimhen saw a strike ruled out for handball on the stroke of half-time and Kvaratskhelia blasted just over after the interval as Napoli searched for a response.
A Fikayo Tomori handball afforded Napoli a late opportunity to fight back into the clash, though Maignan dived low to his right to thwart Kvaratskhelia.
That penalty miss proved Osimhen's late header from Giacomo Raspadori's cross in vain as Milan battled through to the last four.
What does it mean? Milan frustrate Napoli once more
Runaway Serie A leaders Napoli have been by far and away the dominant force in Italy this season, yet Milan have had the edge over Luciano Spalletti's side.
The Rossoneri defeated Napoli twice in April, yet this draw will likely serve as the most punishing blow after Spalletti's men were sent crashing out of Europe in front of their vociferous home supporters.
A potential semi-final meeting with city rivals Inter awaits for Milan if the Nerazzurri can overcome Benfica in Wednesday's second leg. Simone Inzaghi's side lead the tie 2-0.
Giroud emulating fellow veteran Ibrahimovic
Giroud became the first Milan player to see a Champions League penalty saved since the 2005 final when Liverpool's Jerzy Dudek denied Andriy Shevchenko in the shootout, yet the France striker responded well.
The Milan striker's strike took him onto seven goal involvements in 10 European outings this term, only Zlatan Ibrahimovic has managed more for the Rossoneri in a single Champions League campaign (nine in 2011-12).
Not so super Mario
Rui had a game to forget after needlessly giving away the first-half penalty for an unnecessary and ill-timed lunge on Leao.
The left-back was fortunate to see his blushes spared by Meret but was forced off injured after just 34 minutes, having already lost possession a team-high nine times in a poor showing.
What's next?
Napoli return to Serie A action at Juventus on Sunday, when Milan host Lecce.
Dortmund have flown under the radar to reach Champions League final, says Terzic
Borussia Dortmund have benefited from going under the radar during their "unbelievable road" to the Champions League final, according to head coach Edin Terzic.
The Black and Yellow will play either Real Madrid or Bayern Munich in the showpiece on June 1, following a hard-earned 2-0 aggregate win over Paris Saint-Germain in the last four.
Dortmund came into this season on the back of a bitter Bundesliga title loss on the final matchday of the previous campaign, with a 2-2 draw against Mainz handing the title to Bayern on goal difference.
While Terzic's side have been unable to launch a genuine challenge on the domestic front this term - currently occupying fifth place and 24 points adrift of newly crowned champions Bayer Leverkusen - it has been a different story in Europe.
"There is always a team that no one has on their radar that reaches the quarter-finals or the semi-finals," he said. "We wanted to be the team that were not necessarily on anyone's radar. That road has been unbelievable."
Indeed, it has. Dortmund began their campaign with a 2-0 defeat at PSG and goalless draw at home to Milan, but recovered to top Group F before seeing off PSV and Atletico Madrid in the round of 16 and quarter-finals respectively.
The 1997 Champions League winners then produced a defensive masterclass across both legs of their semi-final with PSG, to reach their first final since 2013.
"After the second matchday, almost no one believed in us any more," said captain Emre Can, who made his 50th Champions League appearance during the second leg at Parc des Princes.
"We only had one point after two matches, but we kept believing and that was the most important thing. Keeping two clean sheets in two matches against PSG is no mean feat."
Mbappe admits 'I didn't do enough' following PSG's Champions League exit
Kylian Mbappe shouldered the blame for Paris Saint-Germain's 1-0 defeat to Borussia Dortmund on Tuesday, which saw them exit the Champions League semi-finals 2-0 on aggregate.
Mbappe, who is set to leave PSG at the end of the season, was unable to inspire the Ligue 1 champions as they fell short in their latest quest to land the European crown.
The France captain registered a game-high three shots on target and 12 touches in the opposition box during the second leg at Parc des Princes, but his tally of just 51 touches overall was the second-lowest recorded by any PSG player.
And the 25-year-old admitted he should have made a more significant contribution towards his team's cause.
"I tried to help my team as best as I could, but I didn't do enough," he said. "I'm the guy who should score goals and be decisive. When things are good, I take all the limelight and when they are not, you have to take the shadow.
"That's not a problem. The first one who should have scored tonight was me. That's life, and we have to move on - me and the team."
PSG enjoyed the lion's share of possession (69.5 per cent) during the second leg and registered four times as many shots as their opponents did (30 to seven), hitting the woodwork four times.
"In decisive Champions League matches, when you're not effective in both boxes, it's difficult to get through to the next round," Mbappe added. "Even more so when we're talking about a final.
"We're certainly disappointed, but it's not all doom and gloom. We need to build on that and keep working, because I'm sure we'll get there."
Luis Enrique 'proud' of PSG despite Champions League semi-final exit
Luis Enrique expressed his pride at the efforts of his Paris Saint-Germain side, despite their Champions League exit at the hands of Borussia Dortmund.
The Ligue 1 champions were knocked out in the semi-finals on Tuesday after a 2-0 aggregate loss to the Bundesliga giants, having hit the woodwork six times over the two legs - making it a record tally of 14 for the campaign - and managed 31 attempts at Parc des Princes.
PSG missed a golden opportunity to reach their second Champions League final, but it is not all doom and gloom after a season of transition with a new coach.
The Ligue 1 title is already in the bag with three matches remaining, and they have a Coupe de France final showdown with Lyon to come later this month.
"We were not inferior over the two legs, but football rewards those who score - not those who hit the woodwork," Luis Enrique said.
"My goal was to be fighting for all the titles. Tonight I'm proud of my team, of all the players."
PSG have now lost all six legs of their three two-legged Champions League semi-finals, after double defeats against Milan in 1995 and Manchester City in 2021.
The year they reached the final, in 2020, they beat RB Leipzig in a one-off semi-final after COVID-19 disrupted the season, before losing out in the final to Bayern Munich.
This season started with a new coach in Luis Enrique and without Lionel Messi and Neymar, as club president Nasser al-Khelaifi put an emphasis on building a team over individual talents.
While not always brilliant, PSG have looked like an organised outfit and the coach said he was already working on building a team without Kylian Mbappe, who is widely expected to leave at the end of the campaign.
"The players and coach gave their all," Al-Khelaifi said. "Congratulations to Dortmund, we deserved better. It's a tough game. I'm proud of my team, the youngest in Europe.
"We've reached the semi-finals three times in five years. That's not our objective; it's still the final. That's soccer; you have to accept it and sometimes it's not fair. We'll accept it."
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