An average of 20.3 million viewers watched the live coverage on BBC One from 7.45pm with a peak of 23 million for the penalty shoot-out.
The entire coverage, including the pre-match build-up with Gary Lineker and co. averaged 17.4m.
TV critic Ian Hyland summed up the occasion well on Twitter: “23m watched England go out on penalties last night. That’s one of the highest ever TV audiences for a repeat.”
Source: Digital Spy