But it was heartbreak for their City team-mate Manuel Akanji who was the unfortunate player to miss from the spot.
England were flawless in the shootout to secure the victory and the trio were quick to console the City defender who had been superb throughout the 120 minutes.
After late drama in the last-16 when England fought back against Slovakia after going behind, they again had to battle back as the game finished 1-1.
Gareth Southgate started all three City members of the England squad in Dusseldorf with Foden playing in a more central position where he was able to have more impact on the game.
It was an improved opening 45 minutes from the Three Lions but chances were hard to come by with Harry Kane effectively shackled by Akanji and the Swiss defence.
Neither side had a shot on target until Breel Embolo had a couple of weak attempts after the break that were comfortably collected by England’s Jordan Pickford.
He made no mistake when he got a clear sight of goal in the 75th minute when Dan N’doye’s cross evaded Stones for the striker to finish at the far post.
But England were level within five minutes when Bukayo Saka cut inside and smashed a fierce strike from the edge of the box in off the foot of the far post.
Declan Rice went close to giving England the lead in extra time with a long-range effort that was tipped around the post by Yann Sommer.
The keeper also plucked out a Jude Bellingham effort, but it was the Swiss who almost snatched victory in the dying moments.
Xherdan Shaqiri struck the woodwork directly from a corner kick with Pickford scrambling before he made a good save from Zeki Amdouni.
But neither side could find a winner and the game went to a penalty shootout with former City player and Academy graduate Cole Palmer dispatching the first.
Akanji then saw his spot-kick saved before Bellingham, Saka, Ivan Toney and Trent Alexander-Arnold converted their penalties to send England through.
They will now play Netherlands on Wednesday 10 July at 20:00 (UK) with Spain playing France in the other semi-final 24 hours earlier.
