The Liverpool goalkeeper was an unused substitute as Samuel Umtiti's second-half header from an Antoine Griezmann free-kick helped Didier Deschamps men earn a 1-0 win.
Belgium rallied to create a number of decent opportunities as the game wore on, but the French held out to secure their place in the final.
Roberto Martinez's side will contest a third-place play-off against the loser of England's semi-final tie against Croatia before heading home from Russia.