The four acts will now compete in next Saturday's (June 22) final to be crowned the winner of the 2013 series.
Ash Morgan, Karl Michael, Cleo Higgins and Joseph Apostol were knocked out of the competition at the semi-final stage
Higgins told host Holly Willoughby that she had known she wouldn't progress to the grand final ahead of favourite Leah McFall but thanked viewers for their support.
Her mentor will.i.am told her that he would love to work with her following her departure.
Earlier in the evening, the acts took to the stage with their respective coaches as well as performing individually.
Team Jessie performed a rendition of Rihanna's recent single 'Stay', while Team Danny attempted Passenger's current hit 'Let Her Go'.
will.i.am, Cleo and Leah's performance of Blondie's Rapture featured a breakdance from the 'Scream & Shout' singer, and Sir Tom Jones and his team took on Joe South's 'Games People Play'.
The Voice UK grand final airs next Saturday at 7.15pm on BBC One.
Photo gallery - The Voice UK semi-final: