Rafael Nadal missed out on a place in the ATP Finals last four as defending champion Alexander Zverev claimed the remaining semi-final spot in London.

Nadal, who beat Stefanos Tsitsipas (Sisipaas) 6-7 (4-7) 6-4 7-5 in the afternoon session, needed Daniil Medvedev to beat Zverev to secure a place in the last four.

However, Zverev came through 6-4 7-6 (7-4) to eliminate Nadal and set up a meeting with Dominic Thiem.

Tsitsipas will face Roger Federer in the other semi-final on Saturday.