Crystal Palace's Darren Ambrose (2nd L) celebrates after scoring during their English League Cup soccer match against Manchester United at Old Trafford in Manchester, northern England, November 30, 2011. [Photo/Agencies]

Second-tier side Crystal Palace stunned Premier League champions Manchester United to win 2-1 after extra time in their League Cup quarter-final at Old Trafford on Wednesday and set up a semi-final against Cardiff City in January.

Darren Ambrose proved Palace's inspiration, firing in a 35-metre wonderstrike after 65 minutes which television pundit and former Manchester United defender Gary Neville said was the best goal he had seen in 20 years at his old stomping ground.

Ambrose then turned provider when his wicked freekick was nodded home by Glenn Murray, who appeared marginally offside, on 98 minutes to set the London team on their way to a clash with fellow Championship (second division) club Cardiff.

Premier League leaders Manchester City will face Liverpool in the other semi-final, to be played over two legs early next year, after they beat Arsenal and Chelsea on Tuesday.

"You can hear the fans out there now. We're delighted. We've got a great team spirit and we can beat anyone," former Newcastle United midfielder Ambrose told Sky Sports.

Matchwinner Murray added: "It's what every boy's dream is, to come to a place like this and score a goal like that," added .

Palace's 1-0 advantage thanks to Ambrose lasted just three minutes when Italian Federico Macheda levelled from the penalty spot after he was hauled to the ground by captain Patrick McCarthy.

However United, fielding an inexperienced side in the often unloved competition, were lacklustre and Palace deservedly seized their opportunity to register a famous win and inflict a very rare home defeat on Alex Ferguson's men.

"It's a real privilege to be here at Old Trafford, and the lads have learnt a lot from tonight," said manager Dougie Freedman.