Krul denied Bryan Ruiz and Michael Umana while the Dutch converted all of their spot-kicks to set up a meeting with Argentina in the last four. Holland had numerous chances to score before spot-kicks were required but were denied by Costa Rica keeper Keylor Navas, who had recovered from a shoulder injury to start and was named man of the match.
The Oranje also hit the woodwork three times, including in the last minute of normal time when Robin van Persie's shot was deflected onto the crossbar by defender Yeltsin Tejeda on the goalline.
A Costa Rica side that had never reached the quarter-final stage before and had been the surprise package of the tournament suffered heartbreak but can return home with their heads held high.
Holland dominated possession but could not break through Costa Rica's well-drilled defence in the opening stages.
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