Jan Kliment fired Czechia to within 90 minutes of the World Cup finals as they broke Republic of Ireland hearts in a dramatic penalty shootout to set up a showdown with Denmark.

Substitute Kliment scored the decisive spot-kick at the Fortuna Arena after Finn Azaz and Alan Browne had seen their efforts saved by Matej Kovar to book a clash with the Danes on Tuesday night with a trip to the United States, Canada and Mexico at stake.

Ireland had come within four minutes of victory when Wolves defender Ladislav Krejcí headed the hosts level on a night when the visitors had led 2-0 after just 23 minutes to leave them dreaming of a first World Cup adventure since 2002.

Troy Parrott, whose hat trick in Hungary booked their place in the playoff semifinals, nervelessly converted a 19th-minute penalty before Kovar's unfortunate own goal, and it took a 27th-minute spot-kick from Patrik Schick to drag Miroslav Koubek's men back into it in his first game at the helm.

Skipper Krejci's intervention took the tie to extratime and it was the Czechs who squeezed through 4-3 on penalties despite Heimir Hallgrimsson's men producing a performance of real character.

Sebastian Widmann - UEFA/UEFA via Getty Images

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Ireland would have taken a seventh-minute lead had Kovar not managed to tip Nathan Collins' shot onto the crossbar after it had clipped defender Robin Hranác on its way to goal, and the Ireland skipper passed up a glorious opportunity when he headed wide from Azaz's delivery at the resulting corner.

But they were ahead with 19 minutes gone after Swedish referee Glenn Nyberg was advised to review Vladimir Darida's challenge on Collins after Lukás Provod had headed down Jake O'Brien's long throw inside the box and he ultimately pointed to the penalty spot.

Parrott had to wait as the Czechs protested, but eventually thumped his spot-kick low to Kovar's right to give the visitors a dream start.

They were in dreamland four minutes later when, after Collins had been left unmarked beyond the far post to head Ryan Manning's corner into the six-yard box, Vladimir Coufal's attempted clearance came back off a post, hit the unwitting Kovar and dropped over the line.

However, the hosts grabbed a lifeline with 27 minutes gone when Nyberg awarded a second penalty, this time for Manning's needless tug on Krejci's shirt, and Schick duly obliged from 12 yards.

Jayson Molumby saw a 53rd-minute effort come back off a post after Azaz's corner had been cleared to him on the edge of the box and Kovar had to palm away Parrott's 81st-minute header after Dara O'Shea had flicked on another O'Brien throw-in.

But the sting in the tail came with just four minutes remaining when Krejci powered substitute Michal Sadilek's free kick past helpless goalkeeper Caoimhín Kelleher to level.

There were worrying scenes in extratime when Sammie Szmodics collided with fellow substitute Stepán Chaloupek and had to be carried from the field on a stretcher, but Ireland's hopes were dashed in cruel fashion as Kovar's night took a distinct turn for the better.