TV legal analyst Nancy Grace has to hang up her dancing shoes after being voted off ABC’s “Dancing With the Stars” tonight — just one week shy of the semifinals.

Grace and reality TV personality Rob Kardashian were both in danger of being eliminated.

“I am so proud, but I really cannot take the credit. You know what, it’s been all Tristan from the get-go,” she said, referring to dance partner Tristan MacManus, who was standing at her side.

Elimination in the competition results from a combination of judges’ scores and audience votes. The celebrity with the lowest combined scores is sent home.

Soccer World Cup player Hope Solo, former TV talk show host Ricki Lake, Kardashian and actor and Iraq war veteran J.R. Martinez have all made it into the semifinals.  On Monday, they will compete for the three spots in the finals.

Grace has shown marked improvement in her technique and presence during her eight weeks on the competition’s season 13, but she fell to the bottom of the leaderboard last night. A saucy tango won positive feedback from the judges, but her second dance — the instant jive –  fell flat, even though she ended it with a cartwheel.

Head judge Len Goodman likened her to Cinderella.

“You’ve come to the ball, and you’ve lasted eight weeks, however, for me, it’s midnight and it’s time to go home,” he said last night.

Appearing on “Jimmy Kimmel Live!” after their elimination, Grace and MacManus discussed their time on the show while Grace shared her opinion on the Conrad Murray involuntary manslaughter verdict.

Kimmel initially asked Grace if her elimination Tuesday was a miscarriage of justice.

“Absolutely it’s a huge miscarriage of justice — it’s a felony — even in California!” Grace joked.  She again denied that she was the victim of a wardrobe malfunction that left her nipple exposed when Kimmel asked her “whose idea it was for nipple to come out.”

“That  did not happen,” Grace said, then joking, “The beauty of the dance. I’ll sacrifice a lot for my art.”

When Kimmel asked her how she felt to be dancing on the show while the verdict was given in Murray’s trial over the death of Michael Jackson, Grace’s tone got more serious as she discussed her feelings on the case.

“I had a tiny tip that the verdict was coming down. I thought it would be a guilty sentence … it should have been life behind bars. It should have been a murder charge,” she said.

The TV host then told Kimmel that she’d personally prosecute if someone were to murder him.

A humble MacManus said that he had a fantastic time with Grace during his first season partnered with a celebrity dancer.

“I had a blast, it was a bit of crack alright … Being new, we didn’t really have any expectations coming in. I could have been a bigger let down to Nancy than she could to me,” the Irishman said.

Watch Grace and MacManus tomorrow on “Good Morning America,” live.

Martinez — who has become the crowd favorite — topped the leaderboard last night after scoring perfect 30s for his waltz and instant jive.

Tonight’s show featured musical performances from Italian tenor Andrea Bocelli and rapper Flo Rida, as well as a performance from the Cirque du Soleil production of “Michael Jackson: The IMMORTAL World Tour.”

Actor David Arquette — another crowd favorite — was eliminated from the show last week. The other celebrities who were voted off before him were activist Chaz Bono, fashion guru Carson Kressley, singer Chynna Phillips, reality TV star Kristin Cavallari, Italian model Elisabetta Canalis and NBA star Metta World Peace (formerly Ron Artest).