Scotland appeared to have been robbed of a place in the Wold Cup semi-finals by referee Craig Joubert after Australia were awarded an incorrect penalty that Bernard Foley kicked to clinch a last-gasp 35-34 victory.

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Having seized a 34-32 lead in the 74th minute through a converted Mark Bennett try, Scotland were left shattered when Joubert penalised replacement prop Jon Welsh for offside and Foley obliged with the three points.

Joubert blew the final whistle at Twickenham and then sprinted from the pitch amid a crescendo of boos, knowing he had made a hugely unpopular decision which later proved to be erroneous.

Australia scrum-half Nick Phipps admitted after the match he had deliberately attempted to win the loose ball that then struck Scotland openside John Hardie, his intent clearing Hardie of any transgression.

“I think everyone was trying to win the ball. We were all going for it,” Phipps said.

Joubert’s judgement and rapid departure from the field provoked a furious response from former players.

Scotland great Gavin Hastings said: “If I see referee Craig Joubert again, I am going to tell him how disgusted I am. It was disgraceful that he ran straight off the pitch at the end like that.”

Also among the many outraged voices was former England scrumhalf Matt Dawson, who said on Twitter: “Craig Joubert you are a disgrace and should never referee again!! How dare you sprint off the pitch after that decision!!!”

World Rugby responded by stating that TMO can only be used for the act of scoring a try or an act of foul play. Dejected Scotland captain Greig Laidlaw, who kicked 19 points, highlighted Joubert’s uncertainty when making the decision.

“I asked Joubert (about the penalty) on several occasions. I’m not sure what the protocols are,” Laidlaw said. “I think you can see from the way he was taking his time….he was certainly having a look at the big screen and wasn’t sure himself.

“And then he made a sharp exit at the end of the game, that’s for sure. I never got a chance to speak to him after the game, he was off that quick. It looked like to me that it hit Nick Phipps and it went back and then another player caught it. I’ve not had a chance to look at it on the TV, but at the time I thought there was an Aussie arm.”