Georgios Samaras was adjudged to have been brought down by substitute Giovanni Sio and he calmly slotted in the spot kick for the win that puts Greece through to the knockout stage. Ivory Coast would have advanced with a draw.
Germany booked their place in the last four of Euro 2012 as Joachim Loew's side hammered Greece 4-2 on Friday after dominating their quarter-final.