Samuel Chukwueze hit the opener as he controlled Alex Iwobi's cross, before scoring at the subsequent endeavor.
Bongani Zungu evened out with a header at first precluded for offside before VAR replays demonstrated a free-kick hit a Nigerian player while in transit to him.
Be that as it may, Udinese's Troost-Ekong packaged home from short proximity late on to win it.
His completion was into an unfilled net after goalkeeper Ronwen Williams completely missed Moses Simon's corner.
Nigeria faces Ivory Coast or Algeria in Sunday's second semi-last (20:00 BST).
The Super Eagles have merited champs and drove through Villarreal adolescent Chukwueze's first objective for his nation. They ought to have been ahead by more when Williams pushed Peter Etebo's free-kick onto the bar.
Zungu's objective was the first in the Africa Cup of Nations given by the VAR, which has quite recently been presented for the quarter-finals. It looked offside at first yet Percy Tau's free-kick hit Nigeria's Odion Ighalo in transit on to Amiens midfielder Zungu's head.
The game looked set for additional time before Williams fluttered at a cross to leave Troost-Ekong with a straightforward completion, BBC reports.
Senegal, who beat Benin 1-0 prior on Wednesday, play either Madagascar or Tunisia in the other semi-last.
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