After a goalless first half, a Dean Curtis brace and an injury time third goal from Carl Motteram secured Blues place in the last four.
Tamworth: Lindley, Beauchamp, Garner, Fletcher, Jordan, Turner, Darby, Nolan, McGregor, Sylla, Thompson. Subs: Dennis, J.Barnes, Lwando, Tilley.
Blues: Bagnall, Sheppard, Alsop, Carter, Martin Taylor, Painter, Till, Cisse, Barrowman, Curtis, Motteram. Subs: Duane Courtney, Neil Kilkenny, Asa Hall, Davion Hamilton, Nathaniel Howell.