High drama in World Cup as Japan qualify, Germany and Belgium go out

Morocco's win meant that either Croatia or Belgium would be going home, and a 0-0 draw meant it was the Belgians, despite Roberto Martinez's men playing their best football of the tournament.

Romelu Lukaku came on as a halftime substitute for Belgium, but missed several chances in the closing minutes, seeing one shot hit the post on the hour.

He was then unable to control a header, which went just over the bar, before flicking another chance wide with four minutes left to play.

His worst miss came in injury time when Thorgan Hazard's cross evaded everyone, but with the goal at his mercy, the ball hit Lukaku's chest and rolled tamely into the hands of the keeper.

After the match, Martinez announced he would not continue as Belgium coach.