The England youngsters followed up a 3-1 win over Israel and a 0-0 draw with Italy with a 2-2 draw against Spain on Sunday, to qualify from the group stages of the tournament.
England trailed by two goals after just 27 minutes but second-half strikes from captain Taylor and Leeds United’s James Milner secured their place in the last four.
They now face hosts Portugal on Wednesday with Spain playing Austria in the other semi-final.