In a back-and-forth cup tie, the Blues had opened up a two-goal advantage by the interval after goals from Marc Cucurella and Cole Palmer.

Yet Leicester mounted a second-half fightback and were level after an own goal from Axel Disasi and a stunning solo strike from Stephy Mavididi.

Leicester were reduced to ten men with 17 minutes to play – Callum Doyle saw red for tripping Nicolas Jackson – and it swung momentum in our favour. However, extra time loomed as the game entered its final minutes.

Cue Chukwuemeka. Introduced as a substitute, the midfielder exchanged passes with Palmer and coolly fired home.

Those inside Stamford Bridge were jubilant – and there was still time for the Blues to add a fine fourth from Madueke, who curled home from distance to guarantee our place at Wembley in the last four.

A fast start

Two changes were made to the Chelsea side by Mauricio Pochettino. One was enforced due to Enzo Fernandez’s suspension – Mykhailo Mudryk started –and the other saw Rob Sanchez start in goal ahead of Djordje Petrovic.

The opening 45 minutes saw several chances created by both sides. The first went to Leicester, a back-post volley from Harry Winks that went wide, the second was for Chelsea. A corner was whipped to the near post and Palmer’s flick caused a goalmouth scramble that Leicester were able to clear.

Jackson proved a constant threat to the Foxes’ backline and it was the Senegal international that fashioned our 13th-minute opener. The striker did excellently to drive down the right, get his head up inside the penalty area, and slide the ball across goal to the unmarked Cucurella. It was a simple finish.

End to end

The Blues were in control, although Leicester did show attacking intent on the break. Kiernan Dewsbury-Hall was first to threaten when his dangerous cross beat Sanchez and required a superb last-ditch header from Cucurella. Patson Daka then went close as he headed Abdul Fatawu's deep cross just wide.

Pochettino's side reacted and were awarded a penalty when Raheem Sterling was upended in the box by Fatawu as he was about to pull the trigger. The England international elected to take the spot kick but saw his effort blocked by the legs of Jakub Stolarczyk

It was a setback, but not one that impacted Chelsea. Mykhailo Mudryk forced Stolarczyk into a save with a powerful drive before Sterling was put through one-on-one but only guided his shot beyond the post.

Grabbing a second

The England international would make amends a minute later. Breaking down the left after Cucurella's throw, Sterling's perfectly weighted cross found the in-form Cole Palmer and he tucked the ball away at the near post. It was his first goal in the FA Cup for Chelsea.

Gallagher then nearly made it three before the break but his long-range effort flew just wide of the post.

Foxes fightback

More of the same was needed after the restart from the Blues. However, a route back into the tie was handed to the Foxes.

There was little danger when a throw-in was directed Disasi’s way 40 yards from goal, but the centre-back’s attempted back-pass had too much power and not enough accuracy. The ball ended in the back of Sanchez’s net.

Chelsea attempted to mount an immediate response. Jackson drove an enough into the side netting before Stolarczyk got down sharply to deny Caicedo’s low drive.

Yet momentum remained with Leicester and the visitors drew level just after the hour mark. On this occasion, it was a moment of skill that was rewarded. Mavididi received the ball down the Chelsea right, cut inside after a couple of stopovers, and then whipped a shot into the far corner.

VAR drama

Both sides committed bodies forward in an effort to get to Wembley. Palmer was first to go close as he fired over the bar after an intelligent lay-off from Sterling and Mudryk then did the same moments later.

A moment of quality was needed. It was delivered by Jackson. The Blues forward spun beautifully on the halfway line to unlock the Foxes' defence and charge toward goal. He was brought down by Callum Doyle and the referee initially pointed to the spot.

A VAR review showed the foul was committed outside the penalty area, which meant the initial yellow card shown to Doyle was upgraded to a red, and a free-kick was awarded. It was blasted high and wide by Sterling.

Late goals secure semi-final

With Leicester down to ten men, the Blues ramped up the pressure in front of frantic home support. Palmer was denied by a last-ditch tackle before Chukwuemeka, on from the bench, curled an effort wide of the post.

Madueke was then denied from a few yards out before Jackson blazed an effort over the bar after a wonderful cross from Malo Gusto.

Eight minutes were added. It was then the drama ramped up another notch. Chelsea had forced Leicester back into their own defensive third but had been unable to unlock the Foxes backline.

That was until Chukwuemeka and Palmer exchanged quick passes in the penalty box – the latter a lovely backheel – and the midfielder guided the ball into the net.

Chelsea were en route to Wembley, and Madueke ensured they would do so with a flourish. The winger expertly avoided two Leicester challenges before he curled home a wonderful shot from 20 yards.

What it means

The Blues will now contest an FA Cup semi-final at Wembley on the weekend of April 20/21. That means a new date will have to be found for our trip to Brighton, originally scheduled for that weekend.

What is next

The Blues return to Premier League action following the international break when Burnley visit Stamford Bridge on March 30. Kick-off for that one is 3pm.

The teams

Chelsea: (4-2-3-1) Sanchez; Gusto, Disasi, Chalobah, Cucurella (Chilwell 90); Caicedo, Gallagher (C); Palmer, Mudryk (Chukwuemeka 76), Sterling (Madueke 83); Jackson.

Unused subs: Petrovic, Badiashile, Thiago Silva, Acheampong, Harrison, Deivid Washington,

Goals: Cucurella 13', Palmer 45+1', Chukwuemeka 90+2, Madueke 90+8

Booked:

Leicester City (4-2-3-1): Stolarczyk; Choudhury (C), Faes, Vestergaard, Doyle; Ndidi (Coady 79), Winks; Dewsbury-Hall, Mavididi (Justin 71), Fatawu (Akgun 63); Daka.

Unused subs: Ward, Albrighton, Iheanacho, Cannon, Marcal, Nelson.

Goals: Disasi OG 51', Mavididi 62'

Booked: Mavididi

Sent off: Doyle

Referee: Andrew Madley

Attendance: 39, 589.