In an entertaining quarter-final tie, the Rebels lead at the break through skipper Joel Colbran but Lucas Rodrigues equalised for the Hornets with 20 minutes remaining.
The two sides couldn’t be separated in 90 minutes, taking the tie to spot-kicks.
Horsham converted all five while Jack Spong missed his for the Rebels, sending the reigning champions into the last four.
See some of John Lines’ pictures from the game on this page and the ones linked.
You can read Horsham manager Dominic Di Paola’s thoughts in the West Sussex County Times, and Worthing boss Chris Agutter’s views in the Worthing Herald, out every Thursday.
1. Title holders Horsham FC beat Worthing FC on penalties to reach Sussex Senior Cup semis - the match in pictures
Sussex Senior Cup holders Horsham FC advanced to the semi-finals with a shootout win at division-above Worthing FC on Tuesday. Photo: John Lines
2. Title holders Horsham FC beat Worthing FC on penalties to reach Sussex Senior Cup semis - the match in pictures
Sussex Senior Cup holders Horsham FC advanced to the semi-finals with a shootout win at division-above Worthing FC on Tuesday. Photo: John Lines
3. Title holders Horsham FC beat Worthing FC on penalties to reach Sussex Senior Cup semis - the match in pictures
Sussex Senior Cup holders Horsham FC advanced to the semi-finals with a shootout win at division-above Worthing FC on Tuesday Photo: John Lines
4. Title holders Horsham FC beat Worthing FC on penalties to reach Sussex Senior Cup semis - the match in pictures
Sussex Senior Cup holders Horsham FC advanced to the semi-finals with a shootout win at division-above Worthing FC on Tuesday. Photo: John Lines