Germany will face the Netherlands in the Davis Cup semi-finals after beating Canada 2-0 in Malaga.

Despite being without their star player, world number two Alexander Zverev, Germany won the tie without requiring the doubles rubber.

Daniel Altmaier beat Gabriel Diallo 7-6 (7-5) 6-4 and Jan-Lennard Struff defeated Denis Shapovalov 4-6 7-5 7-6 (7-5).

Germany are three-time Davis Cup winners, last lifting the title in 1993.

The Netherlands defeated hosts Spain on Tuesday, ending Rafael Nadal's playing career.

On Wednesday, Italy face Argentina and the United States will play Australia for a place in the last four.