The dream ended for supporters in Moscow and at home as Gareth Southgate's men lost 2-1 to Croatia in the semi-final after extra time. Croatia pushed back in the dying moments of the second half, but Perišić's attempt failed to land Croatia the last-minute win it so desperately wanted.
It is the first time in 28 years that they made the last four with the previous visit coming during the 1990 World Cup in Italy.
Dele Alli made a decisive contribution in this game, but after being fouled in the second minute for Trippier's free-kick opener for England, the Tottenham midfielder struggled to make any further impact.
For the first 45 minutes, Croatia looked like an ageing side that had come through two lots of extra-time and penalties just to get to the semi-finals.
Yet, Mandzukic was not to be denied with his next effort as he ghosted in behind the England defence to sweep the ball beyond Pickford into the far corner.
But Croatia, in their first semi since 1998, leveled through Ivan Perisic after 68 minutes and then looked the more risky side.
England play Croatia in Moscow on Wednesday night with a place in only their second major tournament final on the line.
Croatia will be especially wary not to give Trippier too much leeway to fire in risky crosses from the right flank. Walker attempted to clear diving header but Perisic jumped and from behind raised his left boot over Walker's head to poke the ball past goalkeeper Jordan Pickford from about 8 yards. Mandzukic is a nightmare to play against, as Harry Maguire, John Stones and Kyle Walker found out.
He also admitted he had reconciled with Baddiel and Skinner's popular football anthem, which was first released to coincide with Euro 96 when Southgate's missed penalty saw England knocked out. Perisic got in there ahead of Walker, who was trying to make the clearance with a header, and the Inter winger flicks home the finish with the outside of his foot!
With his first global goal, just over a year after his England debut, the 27-year-old Trippier joined David Beckham as the only English players since 1966 to score on free kicks at the World Cup.
Henderson has been key to England's success in Russian Federation so far with his calm and precise distribution as well as a willingness to protect the back three.
It was a different game from then on, with Croatia suddenly playing with accuracy and objective as England lost their shape and composure, though Kane missed a chance to win it in stoppage time when he headed wide from a free kick.
Croatia have an experienced squad and will go into the match with the belief of going the distance. Mandzukic had Croatia's best chance at the end of the first additional period, but Pickford blocked his shot from close range.
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