The Republic of Ireland saw their World Cup dreams ended in heartbreaking fashion as they lost 4-3 on penalties to Czechia, having squandered a 2-0 lead to draw their play-off semi-final 2-2.

Ireland raced into a 2-0 lead inside the first 23 minutes, with Troy Parrott continuing his international hot streak before Matej Kovar scored an unfortunate own goal. However, Patrik Schick's penalty got Czechia back within one, and Ladislav Krejci equalised late on.

That goal took the tie to extra time, and after 30 goalless minutes, Kovar got down to his right to keep out penalties from Finn Azaz and Alan Browne to seal victory for Czechia.

Ireland started brilliantly as Nathan Collins rattled the crossbar and sent a header wide, and when the Brentford defender was fouled by Vladimir Darida, Parrott slotted home from the penalty spot in the 19th minute.

Things got even better for Heimir Hallgrimsson's team four minutes later, as Dara O'Shea's back-post header was hacked onto the bar by Vladimir Coufal, then bounced in off goalkeeper Kovar.

Czechia quickly halved the arrears through a penalty of their own, with Schick keeping his composure after Ryan Manning inexplicably pulled Krejci's shirt.

Jayson Molumby struck the post and Parrott drew a glorious save from Kovar as Ireland pushed for a third goal, but they were stunned by a towering header from Wolves defender Krejci with four minutes of the 90 remaining.

Neither team managed to create a clear-cut chance in extra time, and when Caoimhin Kelleher denied Mojmir Chytil six kicks into the shoot-out, Ireland had the upper hand.

However, both Azaz and Browne saw weak efforts parried by Kovar, teeing up a winner-take-all meeting between Denmark and Czechia on Tuesday. 

Data Debrief: Ireland's drought goes on after heart-wrenching loss

Ireland will now miss a sixth successive edition of the World Cup, having not appeared at FIFA's flagship tournament since 2002, when they reached the last 16 and lost to Spain in the aftermath of an infamous row between Mick McCarthy and Roy Keane.

Thursday's game was a close-run affair, with Czechia only narrowly outshooting Ireland by 12 to 10 and edging the expected goals (xG) battle by 1.45 to 1.27.

Czechia, meanwhile, are one game away from reaching their first World Cup since 2006, having only made the tournament once since their final appearance as Czechoslovakia in 1990.