London - Watford's reward for knocking out FA Cup holders Arsenal is a semi-final date with Crystal Palace, while Everton will take on Manchester United or West Ham in the other tie at Wembley.
After handing Arsenal their first FA Cup defeat since February 2013 with a surprise 2-1 victory in the quarter-finals at the Emirates Stadium, Monday's semi-final draw pitted Watford against fellow Premier League side Palace.
The Hornets, bidding to reach the final for the first time since losing to Everton in the 1984 showpiece, won 2-1 at Palace in February, but lost at home to the Eagles in September.
Palace, who put aside their poor league form to beat second tier Reading in the quarter-finals, haven't made the final since 1990 and this is their first semi-final appearance for 21 years.
The clash is a repeat of the 2013 Championship play-off final at Wembley, which Palace won with a Kevin Phillips penalty.
In the other semi-final, Everton, who handed Chelsea a 2-0 defeat in the last eight on Saturday, await the winner of a replay between troubled Manchester United and in-form West Ham at Upton Park.
United haven't won the FA Cup since 2004 and lifting the trophy this season would at least partially salvage a difficult campaign for their Dutch boss Louis van Gaal.
But they needed a late equaliser from Anthony Martial to rescue a 1-1 draw against the Hammers at Old Trafford on Sunday after falling behind to Dimitri Payet's brilliant free-kick.
Everton, who haven't won the FA Cup since beating United in the 1995 final, last reached the final in 2009 when they defeated United on penalties in the last four before losing to Chelsea.
West Ham's previous FA Cup final victory came in 1980 and they last reached the final in 2006 when they lost to Liverpool on penalties.
Draw for the English FA Cup semi-finals
Crystal Palace v Watford
Everton v Manchester United or West Ham
Both ties to be played at Wembley on the weekend of April 23/24