Liverpool advanced to the Carabao Cup quarter-finals by beating Chelsea 6-5 on penalties after the teams drew 1-1 at Anfield.
Morgan Rogers and Cody Gakpo scored Liverpool's goals from the spot in normal time, both within three minutes of each other late in the first half. Both penalties were needlessly conceded. Gravenberch fouled Moises Caicedo while he was running away from goal, and Fofana bizarrely raised his hand to touch a Tsimikas corner.
The teams remained level through the second half despite chances for both sides. Giorgi Mamardashvili saved from Rogers and Marco Palestra. Mike Penders made point-blank saves from Ronald Araujo and Bradley Barcola.
In the shootout, Wesley Fofana skied his penalty into the Kop after Mamardashvili denied Chelsea debutant Emmanuel Emegha. Valentin Barco also missed, sending his effort onto the post. Ryan Gravenberch was thwarted by Penders and Kostas Tsimikas fired over before Joe Gomez capitalized on another Emegha miss to seal it for Liverpool.
Liverpool boss Andoni Iraola started four youngsters in Trey Nyoni, Rio Ngumoha, James McConnell and Lewis Koumas. Iraola told Sky Sports they "deserved the right to play" and "showed us they had a very good level."
Xabi Alonso said Chelsea put on a solid performance and competed at Anfield despite the loss.
The victory was Liverpool's fifth in a row in all competitions. Chelsea have now lost five straight penalty shootouts against Liverpool. Defender Maxence Lacroix left the pitch with an apparent hamstring injury in the first half.
Liverpool will host Bournemouth in the quarter-final. The quarter-final draw takes place in the week commencing December 14.