World number one Novak Djokovic suffered a major scare against world number 110 Mischa Zverev before fighting back to reach the semi-finals of the Shanghai Masters.

The Serbian top seed came back from a set and a break down to win 3-6 7-6 (7-4) 6-3 in two hours 20 minutes, setting up a last-four tie against Spain’s Roberto Bautista Agut.

The defending champion was sluggish and off-target with his groundstrokes at the start, piling up 18 unforced errors in the first set to only four for Zverev, a German qualifier ranked 110th. Djokovic started to find his game in the second set but Zverev continued to press him with his serve-and-volley style, forcing more miscues. Djokovic only started to take control in the tiebreaker, which he won handily. He then got an early break in the third set and held on

Andy Murray booked a Shanghai Masters semi-final berth by battling past Belgium’s David Goffin 6-2, 6-2. The world No2 continued his fine form with a strong performance in an engaging contest to record his fifth successive victory against Goffin.

After winning the China Open last week, Murray has now swept his way to the latter stages of yet another tournament. The Scot, 29, will now play either Jack Sock and Gilles Simon in the last four, with Novak Djokovic still a potential foe should he reach the final.

Murray powered past Goffin in 1hr 35min with a relentless showing that left the Belgian with precious few opportunities for control. He had previously seen off American Steve Johnson and Lucas Pouille, and once again continued his dominant form in dispatching Goffin.