Goals from Sunderland's Habib Diarra and Crystal Palace's Ismaila Sarr saw Belgium trail 2-0 in the 86th minute.
But Belgium substitute Romelu Lukaku and midfielder Tielemans scored twice in the space of three minutes to send the game into extra time.
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Penalties loomed before Tielemans was brought down by Lamine Camara's 117th-minute challenge and the referee gave a spot-kick after a lengthy VAR review at the pitchside monitor.
Speaking on ITV, Sky Sports pundits Roy Keane and Gary Neville disagreed with the penalty decision.
Tielemans then stepped up to slam home the penalty and set up a last-16 clash against either co-hosts USA or Bosnia-Herzegovina in Seattle (Tuesday, July 7 at 1am UK time).
More to follow...
