Senegal's players were left heartbroken after surrendering a two-goal lead in the closing stages of their World Cup Round of 32 match against Belgium, a collapse that ended their hopes of reaching the last 16.

For 85 minutes on Wednesday, Senegal appeared to be in complete control. Holding a 2-0 lead, the African side looked set to secure a place in the round of 16 before Belgium mounted a stunning comeback.

"We were at the heart of writing the beautiful pages of the history of our football in this world," defender Krépin Diatta said. "And, we have to accept that we failed at our mission."

Belgium struck back through late goals from Romelu Lukaku and Youri Tielemans to level the score before Tielemans converted a penalty just before the end of extra time to seal a dramatic 3-2 victory.

The Lions of Teranga had hoped to become the second African team to reach the World Cup round of 16 after Morocco, one of the nine African nations to qualify for the knockout stage, advanced with a penalty shootout victory over the Netherlands on Monday.

Instead, Senegal's World Cup campaign came to a painful end.

"We're disappointed," midfielder Habib Diarra said. "We had a good first half, but it wasn't enough. A match lasts 90 minutes, and we're devastated. It's very tough. I don't know what to say. When you're on the pitch, you have to give your all, and that's not what we did. We've only got ourselves to blame."

Senegal reached the knockout stage as one of the best third-placed teams after defeats to France and Norway and a victory over Iraq. Having emerged from one of the tournament's toughest groups, the team looked capable of progressing for most of the match against Belgium.

However, Lukaku's goal in the closing minutes revived Belgium's hopes before the referee awarded the European side a penalty deep into extra time. Senegal's players protested the decision, but the spot kick stood.

Diatta acknowledged Belgium's determination but admitted Senegal should have managed the game better.

"They did the job and they proved they can come back. I think the problem was our side," Diatta said. "We had to win this game. These kinds of tight games in the box, we have to give everything and not give them a chance."