Nick Kyrgios reached his first Grand Slam singles semi-final with a straight-set success over Chile's Cristian Garin at Wimbledon.

He will face Rafael Nadal on Friday.

Kyrgios said he found it "hard to focus" on tennis after the news on Wednesday that he will appear in court in Australia next month in relation to an allegation of common assault.

The 27-year-old said he had been advised by lawyers that he was unable to say anything at this time about the allegation.

"I read about it and obviously everyone else was asking questions," said Kyrgios. "It was hard. It was hard to kind of just focus on the mission at hand.

"I understand everyone wants to kind of ask about it and all that, but I can't give you too much on that right now.

"It was the quarter-finals of Wimbledon today, I know deep down that's what I was prepared for."

Kyrgios fell to his back, arms spread out, as his place in the semi-finals was confirmed, eight years after reaching his first Wimbledon quarter-final.

"I never thought I'd be in the semi-final of a Grand Slam," he added.

"I thought that ship had sailed - that I may have wasted that window in my career."

The world number 40 is the lowest-ranked men's semi-finalist at SW19 since 2008, when 75th-ranked Marat Safin and 94th-ranked Rainer Schuettler advanced.

Kyrgios solid in key moments

Following his victory, Kyrgios sat for a few moments in his chair, taking in the applause and atmosphere on Court One.

He was well received by the crowd and displayed his best at crucial stages, saving eight of the nine break points he faced, hitting 17 aces and winning 73% of points on his first serve.

Regarded as a natural talent, Kyrgios' on-court attitude and his fluctuating performances have led some to say he was wasting his potential.

He said: "If you asked anyone if I was able to do that the last couple years, I think everyone would have probably said no - 'he doesn't have the mental capacity, he doesn't have the fitness capacity, he doesn't have the discipline' - all that.

"I almost started doubting myself with all that traffic coming in and out of my mind.

"I just sat there today and soaked it all in. There's just so many people I want to thank. At the same time, I feel like I don't want to stop here either."

Kyrgios made the slower start and was broken to love in the first game. Caught between admonishing his box far too much and not getting enough support, he settled enough to break back and save two opportunities on his own serve at 4-4.

A shanked forehand from Garin handed his opponent the first set and Kyrgios dug himself out of a hole in the opening game of the second, dragged back from 40-15 to deuce before holding.

However, a superb move to the net and volley wrongfooted Garin, giving Kyrgios the break for a 3-1 lead, with two big serves in the next game helping to keep the Chilean at bay.

An ace down the T secured the second set as the crowd grew increasingly involved. The Australian was unhappy with some noise from the crowd, with umpire James Keothavong asking several times for quiet during the rallies.

It felt inevitable that a tight third set would head to a tie-break, with Kyrgios taking it there with three wonderful volleys at the net.

Despite an unfortunate overrule on match point, with a Kyrgios return being called out before being corrected, he held steady to close out victory in two hours and 13 minutes.