The Three Lions suffered an extra-time 2-1 defeat at the hands of Croatia in Moscow, after a roller-coaster game which saw England take an early lead through Kieran Trippier, only for a second-half equaliser from Ivan Perisic to take the game to extra time and set up Mario Mandzukic's late victor.
England scored just five minutes into the match when defender Kieran Trippier beautifully arced a free kick over the wall of Croatian players that nestled into the upper right corner of the Croatian goal.
It was England's first goal scored directly from a free-kick at the World Cup since Beckham's victor against Ecuador in 2006, and the team's 12th goal of the competition - surpassing the 11 they netted en route to lifting the trophy 1966.
Mario Mandzukic wheels away after scoring the winning goal in Wednesday's semifinal between Croatia and England.
Before that, England will face Belgium on Saturday to determine who will finish in third place in the tournament.
There was promise for England again soon afterwards, though Kane struck the post from close range and was adjudged - seemingly incorrectly - to be offside following Alli's incisive pass. I've not met many players as driven as Luka, and I've seen even fewer who are as talented as him. But Kane said the team could "hold our heads held high" as they "went further than anybody thought".
Vrsaljko cleared a John Stones header off the line midway through the first extra period.
Pickford was similarly heroic at the other end, denying Mandzukic at point-blank range after the striker met Perisic's cross.
Croatia could hardly believe it after Mario Mandzukic found the back of the net in extra time to defeat England in the Fifa World Cup semifinals.
Jesse Lingard brilliantly found Dele Alli on the edge of the box, and when the Spurs man was fouled it presented a flawless opportunity for either Trippier or Ashley Young to take an early pot at goal.
Samuel Umtiti scored the only goal of the game, as France reached their second-consecutive major final having finished runners-up to Portugal at the European Championships two years ago.