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Novak Djokovic's Serbia missed out on the Davis Cup semi-finals as he and partner Viktor Troicki lost the decisive doubles against Russia despite having three match points.

The 16-time Grand Slam champion had levelled the tie by beating Karen Khachanov 6-3 6-3 after Andrey Rublev won 6-1 6-2 against Filip Krajinovic.

But Djokovic and Troicki lost 6-4 4-6 7-6 (10-8) to Khachanov and Rublev in the doubles as Russia took the tie 2-1.

"I let my team down," Troicki said.

The 33-year-old, who sent a straightforward volley long to squander Serbia's final match point, was speaking at an emotional news conference, where captain Nenad Zimonjic and most of the team were in tears.

"I never experienced such a moment in my career, in my life," said Troicki, who in 2010 won the final point that sealed the title for Serbia against France in Belgrade.

"We were up in the tie-break. We had chances to finish it - we didn't do it. I messed up in the crucial moments.

"God gave me once to be the hero, maybe to win the Davis Cup in the deciding rubber. Now he took it away. I'm really disappointed with myself.

"At the end there was one point that decided it. And I'm really, really disappointed in myself that I couldn't hold my focus till the end and finish."

World number two Djokovic added: "It hurts, this really hurts badly."

Russia face Canada in Saturday's semi-finals (10:00 GMT), before Great Britain face hosts Spain in the other last-four tie (16:30).

World number one Rafael Nadal ensured he and Spain did not follow Djokovic out of the competition, winning in singles and doubles against Argentina.

Spain's Pablo Carreno Busta was beaten 6-7 (3-7) 7-6 (7-4) 6-1 by Guido Pella but Nadal thumped Diego Schwartzman 6-1 6-2 and then teamed up with Marcel Granollers to beat Maximo Gonzalez and Leonardo Mayer 6-4 4-6 6-3.