He now takes on 12-time Grand Slam champion Roger Federer in tonight’s mouth-watering final at Flushing Meadows after a 6-2 7-6 4-6 6-4 triumph.
Murray said: “It’s awesome to beat Rafa, a great feeling.
“But I still have one more match to go. I want to win the tournament.
"I have done well enough to beat the world No 1 over two days. I have the tennis to compete with these guys but I have to do it in three out of five sets in the final.”
Murray resumed the match 2-3 down in the third set after Saturday’s rain delay.
He added: “I thought I held my nerve against Rafa.
"I dropped serve easily at the start of the fourth but I stayed aggressive. On match point, I just kept my head down and stayed calm. I didn’t feel nervous.”
Murray, 21, who landed the US Open junior title in 2004, has won two of his three matches against Federer.
He said: “I have played well against him in the past.
"A Grand Slam final is different to what I have played before, though. I know I am going to have to play great.”
Murray was watched by his favourite comedian, Anchorman star Will Ferrell, who imitated Andy’s muscle-flexing in the stand.
Nadal said: “Andy beat me because he was the better player.
"I had my chances but did not take them. Andy has a chance to beat Roger in the final.”
PM Gordon Brown, who stayed up late to watch the Murray match at home, said: “It was a fabulous performance by Andy Murray and a fantastic victory.”
Downing Street is sending Murray a message of good luck for the final.
To read Charlie Wyett's report from tonight's US Open final and see a slideshow of all the action, log on to thesun.co.uk/tennis
Andy Murray is 6/4 to beat Roger Federer in the men's US Open final tonight.