For the first time in its distinguished history, the U.S. women’s soccer team has failed to advance to the semifinals of a major tournament.

The four-time Olympic gold medalists were upset by Sweden on penalty kicks, 4-3, following a 1-1 draw Friday at Mane Garrincha Stadium in Brasilia.

The top-ranked Americans had gotten past the quarterfinals in seven World Cups and earned no worse than silver in five previous Olympics. But on this day, Sweden, guided by former U.S. coach Pia Sundhage, prevailed in the tiebreaker to claim a semifinal slot against Brazil or Australia on Tuesday in Rio de Janeiro.

The United States, unbeaten in 18 prior matches this year, was seeking to win a fourth straight gold medal and become the first team to win World Cup and Olympic titles in consecutive years.

“It’s hard to go back to back — that’s why no one has done it,” captain Carli Lloyd said. “It’s unfortunate. We had the talent. We were playing well. That’s the way soccer goes sometimes.”

Against the run of play, sixth-ranked Sweden went ahead in the 61st minute when substitute Stina Blackstenius scored on a clinical counterattack. The Americans answered in the 77th when Alex Morgan took advantage of a deflection and scored from 10 yards.

In the first tiebreaker in Olympic women’s history, each goalkeeper made a save in the first three rounds. After both teams converted in the fourth stage, Christen Press drove her shot over the crossbar and Lisa Dahlkvist beat Hope Solo to clinch victory.

The match transpired exactly as expected: the United States hoarding possession while Sweden absorbed pressure and, in soccer parlance, parked the bus to compress space and thwart opportunities.

After the game, Solo remarked on the contrasting styles in blunt terms.

“I thought that we played a courageous game,” she told reporters. “I thought we had many opportunities on goal. I think we showed a lot of heart ... But I also think we played a bunch of cowards. The best team did not win today. I strongly believe that.”

Asked to explain her criticism of the Swedes, Solo said: “They didn’t want to pass the ball. They didn’t want to play great soccer. It was a combative game, a physical game. Exactly what they wanted and exactly what their game plan was ... I don’t think they’re going to make it far in the tournament. I think it was very cowardly. But they won. They’re moving on, and we’re going home.”

Told of Solo’s comments in her postgame news conference, Sundhage retorted: “It is OK to be a coward if you win.”

U.S. Coach Jill Ellis told reporters, “I’m sad for the players, disappointed for all the hard work we did” but said of Sweden’s play: “I’m not going to criticize the tactics they chose. It is a choice to play defensively and it is OK.”

The Americans took hold of the match at the very start, putting Sweden under severe duress. In the third minute, Morgan’s header was cleared by a defender at the back post and Morgan Brian’s bid was pushed away by goalkeeper Hedvig Lindahl.

Sweden defended in numbers, clogged channels and won aerial challenges. The United States moved the ball well, emphasizing the right flank with Tobin Heath, but failed to link the final pass and failed to serve quality crosses and set pieces.

It all came down to penalty kicks.

“It could have gone either way,” Lloyd said. “Overall, we played well. It’s unfortunate to lose, but you best believe, in 2019 [World Cup in France] and 2020 [Olympics in Tokyo], we’re going to be back for the golds.”