We derived galaxy colour selections from Euclid and ground-based photometry, aiming to accurately define background galaxy samples in cluster weak-lensing analyses. Given any set of photometric bands, we developed a method for the calibration of optimal galaxy colour selections that maximises the selection completeness, given a threshold on purity. We calibrated galaxy selections using simulated ground-based $griz$ and Euclid $Y_{\rm E}J_{\rm E}H_{\rm E}$ photometry. Both selections produce a purity higher than 97%. The $griz$ selection completeness ranges from 30% to 84% in the lens redshift range $z_{\rm l}\in[0.2,0.8]$. With the full $grizY_{\rm E}J_{\rm E}H_{\rm E}$ selection, the completeness improves by up to $25$ percentage points, and the $z_{\rm l}$ range extends up to $z_{\rm l}=1.5$. The calibrated colour selections are stable to changes in the sample limiting magnitudes and redshift, and the selection based on $griz$ bands provides excellent results on real external datasets. The $griz$ selection is also purer at high redshift and more complete at low redshift compared to colour selections found in the literature. We find excellent agreement in terms of purity and completeness between the analysis of an independent, simulated Euclid galaxy catalogue and our calibration sample, except for galaxies at high redshifts, for which we obtain up to 50 percent points higher completeness. The combination of colour and photo-$z$ selections applied to simulated Euclid data yields up to 95% completeness, while the purity decreases down to 92% at high $z_{\rm l}$. We show that the calibrated colour selections provide robust results even when observations from a single band are missing from the ground-based data. Finally, we show that colour selections do not disrupt the shear calibration for stage III surveys.