Colombia converted their first four to progress 4-2 on penalties following a nervy encounter in Brasilia that finished 0-0 after 90 minutes.
Uruguay began this tournament in the middle of a goal drought and although they scored twice against Bolivia and once against Paraguay in their two games last week they still looked uncomfortable up front, with service to Luis Suarez and Edinson Cavani sparse and neither striker firing on all cylinders.
Colombia, too, looked like they missed suspended midfield general Juan Cuadrado and neither side showed much composure in a game that was characterised by stray passes and painfully slow transitions from the back.
Both sides could only muster one shot on target between them in the first half but things changed after the break as both teams started to lose their inhibitions and come forward.
However, neither could find the breakthrough and after ending nil-nil the match went straight to penalties.
The final is scheduled for the Maracana stadium in Rio de Janeiro on July 10.