Nottingham Forest, who knocked out Brighton on penalties on Saturday evening, will face last year's beaten finalists Manchester City after they squeeze past Bournemouth in the late game on Sunday.
The draw took place shortly after Unai Emery's Aston Villa side ran out as comfortable 3-0 victors at Deep Dale, thanks to goals from Marcus Rashford and Jacob Ramsey.
Villa are seeking their first major silverware since 1996 and their first FA Cup trophy since 1957.
Crystal Palace impressed in their 3-0 away victory over a fancied Fulham side as the south London side seek to reach their third FA Cup final - and earn their first-ever winners' medals - in the club's 125-year history.
Manchester City's dismal season in the Premier League and Champions League can be softened somewhat by lifting the cup for a seventh time, and they remain the bookies' favourite to go all the way after narrowly coming through a difficult clash against Bournemouth.
Forest, meanwhile, have reached the semi-final stage for the first time since 1991 (when they ultimately lost in that year's final to Tottenham Hotspur), looking for the cherry on top of a remarkable domestic campaign that sees them challenging for a place in Europe.
This year's FA Cup winners qualify for next season's Europa League, which would otherwise require finishing fifth or sixth in the Premier League, depending on the number of UEFA Champions League places England receives next campaign.
The FA Cup semi-final fixtures will take place on the weekend commencing April 26th at Wembley Stadium in London.
FA Cup semi-final draw in full:
Nottingham Forest v Manchester City
Crystal Palace v Aston Villa