The Newcastle United goalkeeper was brought on deep into extra time for the penalty shootout, keeping out two of Costa Rica's spot kicks.
The former England defender told Sky Sports News: "I think it is in the spirit of the game and an absolutely sensational decision by the manager.
"If you have a fantastic striker sitting on the bench you'd have no doubt that he'd come on to take one of the penalties and with the manager making this decision, it's justified by the result.
"You have to know the manager's in control and is prepared to make the decisions, even if you don't like it at the time, for the best of the team."
The win ensured that the Netherlands will play Argentina in the last four on Wednesday.