A combination of world class talent and solid defence will keep Wales' dream run alive after their stunning 3-1 victory over Belgium booked them a place in their first ever European Championship semi-final, man-of-the-match Hal Robson-Kanu said.

Two second-half goals from Robson-Kanu and Sam Vokes sealed the win against the fancied Belgians after captain Ashley Williams first-half header cancelled out an early strike from Belgium's Radja Nainggolan.

"We did well to get back into game in the first half and we knew if we kept playing in the second half as we did in first then we'd get our just deserts," said Robson-Kanu.

"We kept to our game plan. We've got world-class players - we can be as solid as a rock defensively. With those two combined we stand a good chance."

Coach Chris Coleman said he was quietly confident they could spring an upset and that they deserved the win.

"I said before we kicked the ball today, we are not here to enjoy it, we are here to compete."

"Don't be afraid to have dreams. Four years ago I was as far away from this as you could imagine. I've had more failures than successes but I'm not afraid to fail. We deserve this."

Captain Williams' goal in the 30th minute was his second goal on his 64th game for his country.

"I'm pleased [to score]. I'm more pleased we got through. I don't score many goals.

"It was nice to help the team out, I thought we deserved a goal at that period as well - we were playing some good stuff.

"It's hard to take in at the minute to be honest.

"We've spoken about the character in this team before. Our first time in the quarter-finals (of the European Championships), to be one down against such a quality opponent, I thought we showed unbelievable strength of character to come back."