Argentina trailed 1-0 after Anthony Gordon's tap-in for England in the 55th minute, but Enzo Fernández leveled in the 85th and Lautaro Martínez scored in the 90+2nd from Messi's delivery to secure a 2-1 win at Atlanta Stadium.
The victory sends the defending champions to
their second straight final against Spain on Sunday.
Lionel Messi, topping tournament stats at 39, finally faced England competitively in a match echoing Maradona's 1986 'Hand of God,' with Thomas Tuchel's side falling short despite stout defense.