Image copyright AFP Image caption Prime Minister Antonio Costa said Portugal will have to play extra-time in a play-off to decide who makes it to 2022
Portugal have won only one of their seven games in Group F as they were knocked out of the World Cup qualifiers.
Slavisa Jokanovic’s Serbia, who failed to qualify for the 2014 World Cup, took a 2-0 lead into the second leg of their play-off.
But Nani’s strike and Ricardo Quaresma’s goal left Portugal needing two goals in 90 minutes to reach Russia.
The Portuguese went into the second leg with the knowledge they only needed a draw.
And in the 93rd minute of a match in Belgrade, they were ahead after Nani struck with a close-range effort following Ricardo Quaresma’s through ball.
But soon after, Valter Birsa scored a late equaliser to send the tie into extra-time.
Slavisa Jokanovic’s Serbia qualified for next year’s World Cup in Russia
The game’s penalty shoot-out could not stop Portugal’s World Cup dream being ended
Portugal was completely outplayed by a Serbia side that had failed to qualify for the 2014 World Cup and looked like World Cup contenders
Portugal was chasing back an away goal after Andy Delort’s header had cancelled out Nani’s first-half opener, but the tie remains alive
Serbia coach Jokanovic congratulates head coach Rodiongos Bojinov on making the World Cup