Portugal's Francisco Trincão came off the bench to score twice and Cristiano Ronaldo also netted as they beat Denmark 5-2 after extra time on Sunday to win 5-3 on aggregate and set up a Nations League semi-final against Germany.

Ronaldo bounced back from missing an early penalty to play a key role in his side's comeback, and although he was forced to watch the extra time from the bench, he continued to inspire the crowd as Portugal finally found a way to end Denmark's resistance.

With the Danes leading 1-0 from Rasmus Hojlund's goal in the first leg in Copenhagen on Thursday, and with full-back Joakim Maehle out of camp to attend the birth of his child, his replacement Patrick Dorgu handed Portugal an early gift, bundling over Ronaldo to concede a penalty in the third minute.

Ronaldo stepped up to take the spot kick himself, but Denmark goalkeeper Kasper Schmeichel won the battle of nerves, diving to his left to deny the Portuguese captain.

The former Real Madrid star almost made amends in the 17th minute, ghosting in at the far post to head home Nuno Mendes' ball, but again Schmeichel was equal to the task.

Portugal finally took the lead in the 38th minute thanks to an own goal from Danish defender Joachim Andersen, who headed Ronaldo's corner into his own net.

That goal was cancelled out in the 56th minute by Rasmus Kristensen's header from his own corner, and although Ronaldo put the home side back in front with an angled finish, Christian Eriksen put Denmark back in front in the 76th minute.

Trincão then took over, scoring in the 86th minute to make it 3-3 on aggregate and force extra time, before netting again in the 91st minute with a superb curler to put his side in the driving seat.

Denmark defended heroically but ran out of steam after Trincão's second, and substitute Gonçalo Ramos completed the scoring with Portugal's fifth to set up a last-four meeting with Germany, who beat Italy 5-4 on aggregate.