The draw took place at Stamford Bridge on Monday after the quarter-final between Chelsea and holders Manchester United.
Monday’s draw was hosted by BT Sport’s Jake Humphrey and made by FA Cup winners Ruud Gullit, a former Chelsea player and manager, and Phil Neville, the ex-Manchester United defender.
Chelsea knocked out Manchester United out of the FA Cup after defeating the Red Devils 1-0 in the quarterfinals at Stamford Bridge.
Four of the Premier League’s top six teams were left in the competition, after Arsenal beat no-league Lincoln City and Tottenham ousted Millwall.
The four clubs have won the FA Cup a combined 44 times, including 12 of the past 15.
Arsenal will face Manchester City in the other last-four tie. Both semi-finals will be played at Wembley on the weekend of April 22 and 23.