BRUSSELS, BELGIUM - SEPTEMBER 17: David Goffin of Belgium is congratulated by Nick Kyrgios of Australia after his four set win during day three of the Davis Cup World Group semi final match between Belgium and Australia at Palais 12 on September 17, 2017 in Brussels, Belgium. (Photo by Julian Finney/Getty Images)

Australia has lost its Davis Cup semi-final clash with Belgium after losing both reverse singles matches overnight.

After leading 2-1 following the doubles rubber on Saturday, Australia needed to win just one of the remaining two singles to advance to their first Davis Cup final since 2003.

However, Nick Kyrgios, who started well against David Goffin winning the first set, eventually went down in four, 6-7, 6-4, 6-4, 6-4, before Jordan Thompson lost in straight sets to Steve Darcis, 6-4, 7-5, 6-1.

Belgium will now face France in the final, who defeated Serbia 3-1.

Dusan Lajovic gave Serbia the lead in the first rubber of the tie on day one with a four set win over Lucas Pouille, before Jo-Wilfred Tsonga levelled things up with a straight sets win over Laslo Djere.

The French pair of Nicolas Mahut and Pierre-Hugues Herbert then won the doubles, with Tsonga winning his reverse singles 2-6, 6-2, 7-6, 6-2 over Lajovic to secure the win.