Winners of Poland, last in Group II, by the smallest of margins 28-27, the Spaniards, crowned in 2018 and 2020, were scared but found the last four for the sixth consecutive time.
The match, close at the end, was marked by the decisive and spectacular double save of goalkeeper Rodrigo Corrales in the last minute of the game.
In an equally breathless end to the match, Sweden (24-23) qualified in the last seconds against Norway, who nevertheless led at the break 14-9.
A seven-yard throw from Valter Chrintz in the last minute sent the Swedes into the last four.
The joy of Swedish right winger Valter Chrintz after a goal scored against Norway in their Euro quarter-final on January 25, 2022 in Bratislava VLADIMIR SIMICEK AFP
On Wednesday, Denmark, already qualified, faces France, Olympic champions, in a remake of the final of the 2021 Games in Tokyo.
France will be in a distance duel for the qualification with Iceland which faces Montenegro at 3:30 p.m.
© 2022 AFP