Nuno Espirito Santo savoured "a beautiful moment" as Nottingham Forest booked their FA Cup semi-final place with a penalty shoot-out victory over Brighton.

Forest are through to the last four of the competition for the first time in 34 years, after prevailing 4-3 on spot-kicks on Saturday.

Following a goalless draw after 120 minutes, Matz Sels saved penalties from Jack Hinshelwood and Diego Gomez, before Ryan Yates fired home the decisive spot-kick to send the travelling supporters into ecstasy.

It was the latest highlight of what is turning into a memorable season for Forest, who are also third in the Premier League and six points clear of fifth-place Manchester City with nine games remaining.

"It was such a stressful moment and to share it with our fans, we are so happy," Nuno told BBC Sport.

"Perfection doesn't exist, but we did really well to control Brighton in terms of their possession. We did well. In the second half, we had chances. Both teams had a chance.

"We have to focus on the Premier League, but it's going to be a beautiful moment for all of us on our journey."

Having also seen off Exeter City and Ipswich Town via this method earlier in the competition, Forest are the first team in FA Cup history to win three penalty shoot-outs during a single campaign.

"It is amazing for the supporters, so I am happy that I could help the team," Sels added. "In penalty shoot-outs, you always need a little bit of luck. I am really happy to play at Wembley."

"It was a unique emotion [when Yates scored the winning penalty]," Nikola Milenkovic added. "We are very happy that we could go over to our fans and spend time with them, and we are so happy to go to Wembley with them."

Meanwhile, Brighton missed out on a third FA Cup semi-final appearance in the space of seven seasons, with Joao Pedro seeing a goal ruled out for offside during extra-time.

Fabian Hurzeler conceded his side, whose team created chances worth just 0.96 expected goals, were made to pay for not producing their optimum performance levels, and he demanded a positive response from his players.

"We were not resilient enough, not good enough and that is why we didn't win the game today," he said. 

"It is important that we analyse the reasons internally, and it is important that we show a good reaction and try and improve on small things.

"[The players] are disappointed, but I take responsibility for the penalties. They are young players and will learn from it. They didn't shoot that badly. The Forest goalkeeper made two impressive saves. That is penalties.

"It is important that we don't let it affect us, and we have to show a reaction and stick together."