Novak Djokovic ended Rafael Nadal's reign at the French Open with a four-set win in a classic semi-final which will be ranked among the all-time great matches on the Roland Garros clay.

Serbian top seed Djokovic won 3-6 6-3 7-6 (7-4) 6-2 against Nadal, champion in each of the past four years. Nadal, going for a record-extending 14th title, lost at Roland Garros for only the third time in 108 matches.

Djokovic, 34, must now recover to play Stefanos Tsitsipas in Sunday's final. The 22-year-old Greek reached his first Grand Slam final by beating German sixth seed Alexander Zverev in a five-set epic earlier on Friday.