Arnas Velicka hit 23 points, five assists and collected four rebounds while Ignas Sargiunas pitched in 16 points for the 72-72 win. France, who came back from a 15-point deficit to lead the game for a time, were led by 21 points and eight rebounds from Jaylen Hoard while Ivan Fevrier added 13 points.
Lithuania now face reigning champions the United States who blew out South Korea in their quarter-final, 133-81, with seven Americans scoring in double figures.
Collin Sexton led the scoring for the USA with 24 points along with six assists and five rebounds while Kevin Knox II scored 17 points and Carte'Are Gordon had 16 in the win. Yang Jae Min was Korea’s top scorer with 14 points.
Turkey reached the semi-finals of their first U17 World Championships by beating title contenders Canada 80-74. They will face tournament hosts Spain, who held off Australia 74-63 thanks to 26 points and 9 rebounds from Sergi Martinez.
Australia, who reached the final of the last two tournaments and will face Canada in the Classification 5-8 play-off.