A flawless penalty shootout performance helped St Mirren secure a Premier Sports Cup semi-final as they edged past a stubborn Kilmarnock at Rugby Park.

Malik Dijksteel, who scored the winning spot-kick in the previous round against Hearts, converted from 12 yards after Kyle Magennis missed for the hosts.

That confirmed the Paisley side will return to Hampden for the first time since their Scottish Cup semi-final defeat by St Johnstone in 2021.

Stephen Robinson had urged his side to seize what he called a potentially "once in a career" opportunity, and two terrifically-taken goals helped them on their way.

A long ball from Jayden Richardson unlocked Kilmarnock's defence, with Mikael Mandron showing masterful skill and great composure to flick the ball over the defender and rifle in the opener.

The Ayrshire hosts equalised on the stroke of half time through a powerful Robbie Deas header, but another moment of St Mirren magic fired them into the lead again in the second 45.

Richardson popped the ball into the air off his chest on the edge of the box before connecting perfectly on the volley, sending the ball looping beyond the outstretched hands of Max Styjek.

Most had predicted a tight affair, with Kilmarnock boss Stuart Kettlewell describing it as a "coin toss", and his side levelled with just a few minutes to go through a Bruce Anderson penalty after Marley Watkins was felled in the six-yard box.

Neither side could find a winner in the additional 30 minutes, with Magennis missing after seven successful spot-kicks, allowing Dijksteel to fire his side into Saturday's semi-final draw.

Three back-to-back top-six finishes, European football for the first time in a generation, and a trip to Hampden for the first time in four years - Robinson just about deserves a stature in Paisley.

A lot has been said recently about their style of play, with some suggesting that it isn't the easiest on the eye. This was a firm rebuttal of that accusation.

Killian Phillips, Keanu Baccus and Mark O'Hara form a trio in the middle of the park that can rival most in the country, pointing to Robinson's shrewd recruitment and ability to develop players.

Kilmarnock are a similarly stubborn side who can blend a rigid defensive style of play with swift attacking moves, but St Mirren limited them to little throughout.

Kettlewell's side were dangerous from free-kicks and corners, but that was as far as their threat went. St Mirren were comfortably resolute in the face of any pressure.

With a first Scottish Premiership secured at the weekend, they are a squad full of confidence and character. No matter who they draw in the semi-finals, they should go into the game with no fear.

Kilmarnock manager Stuart Kettlewell: "It was a proper cup tie, quality and fighting spirit. Unfortunately, our group have come out on the wrong side of it.

"There's moments where we could have had a bit more quality in our delivery and movement in the box.

"We need to retain the ball better at times and if we do that, it might buy us the luck we've not had in the past couple of weeks."

St Mirren manager Stephen Robinson: "It [reach a semi-final] is probably the one thing we haven't managed to do since we came to the club.

"We seem to do it the hard way - certainly not good for the nerves. Incredible because we don't practice [penalties]. It takes a mentality and a bit of luck.

"You see the crowd that turned out tonight - fantastic support and the players give them everything. It's a togetherness at the football club that's driving it."

Kilmarnock are away to Dundee United in the Scottish Premiership on Saturday 27 September (15:00 BST).

St Mirren host Dundee at the same time and will find out their League Cup semi-final opponents on Sunday after Partick Thistle v Celtic (15:30) concludes.