The South African won 7-6 (7-5) 6-3 6-7 (2-7) 7-6 (7-0) in four hours and 18 minutes to achieve a first real quarter-last, where he confronts Stan Wawrinka.
It is the first run through since the 2010 US Open that Murray has lost before the quarter-finals of a Grand Slam.
Briton Jo Konta lost 7-5 6-3 to Petra Kvitova in the ladies' singles.
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