Luka Modric, Ivan Rakitic and Mladen Petric missed the crucial spot-kicks for Croatia after the match had finished level at 1-1 following extra-time.
Croatia had earlier looked to have claimed the victory when Ivan Klasnic headed home Modric´s cross in the 119th minute, but Turkey hit back to grab a sensational last-gasp equaliser through Semih Senturk.
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