Cristiano Ronaldo's 97th-minute penalty sent Real Madrid to the Champions League last four in memorable fashion, going through 4-3 on aggregate against Juventus after a dramatic 3-1 loss on the night
English referee Michael Oliver awarded Real a penalty with the game seemingly heading for extra-time as Medhi Benatia brought down Lucas Vazquez, with Gianluigi Buffon sent off for protesting on his last Champions League appearance
Ronaldo stepped up to lash past Wojciech Szczesny, leaving Juventus devastated after a remarkable fightback to get to 3-3 after their 3-0 first-leg loss
In a scintillating first half, Mario Mandzukic had scored with two far-post headers from right-wing crosses as Juventus looked to become the second Italian side in consecutive nights to overturn a three-goal deficit, following Roma's dramatic comeback against Barcelona
Blaise Matuidi brought Juventus level in the tie after capitalising on Keylor Navas' horrific error in the 61st minute, before the late drama at the Bernabeu
The draw for the last four will be made at 1pm on Friday in Switzerland, with Bayern, Liverpool and Roma also in the semi-finals
Juventus came out desperate for the opener in a pulsating opening 45 minutes, and got the goal they craved after just two minutes as Mandzukic headed home at the far post from Sami Khedira's deft cross
Navas blocked the ball at the feet of Gonzalo Higuain shortly after, before Gareth Bale's intuitive back-heel hit the side-netting at the other end
Isco had a goal correctly disallowed for offside soon after as Real pushed for a killer fourth goal in the tie, with Buffon blocking well at his near post from Isco soon before Juventus' second
It came through Mandzukic, who had replaced Juve's talismanic suspended forward Paulo Dybala for the second leg, with eight minutes of the half remaining, again nodding in at the far post as substitute Stephan Lichtsteiner found him from deep
Real nearly made it 4-2 on aggregate before the break through Raphael Varane, but his header thundered off the bar, while after the interval Matuidi made the most of Navas' fumble from close range to bundle the ball over the line for an unprecedented leveller
Real missed several chances to take the lead in the tie through Isco, Varane and Ronaldo, before the late drama to cap off a quite unbelievable game of football
Ronaldo leapt highest to head the ball down for Vazquez in the area, before the substitute was pushed in the back by Benatia
 Referee Oliver waited, before pointing to the spot; cue pandemonium among Real players and anger from Juve in equal measure
Buffon was shown a straight red for his protests, and they continued for another four minutes before Ronaldo struck into the top corner past Szczesny to win it for the hosts
: "I have a bitter taste as we didn't have the chance to go to extra time
 Small details changed the whole tie unfortunately
 I had two more substitutions planned for extra time and I was confident we could do it
 The first leg had given me confidence we could do this and the side deserved at least extra time
 To cry right now is useless
": "There must be some sensitivity to understanding the importance of some moments and if you do not have this sensitivity to what's going on in the game, you're not worthy of being on the pitch
 In this case, he should be in the stands with his parents, with his friends, with fries and Coca-Cola, and watch the game
 You can not do something like that
 This referee doesn't have a heart
 He has a rubbish bin instead of a heart
": "I don't understand why they are protesting
 Lucas was tackled from behind and if they don't give him the penalty, it's a goal
"So often Juventus' rock, you've got to feel for Chiellini after this mammoth display next to Medhi Benatia
He made a team-high eight clearances and three interceptions as Juventus batted off wave after wave of Real attack
 until stoppage time
Will this wonderful player ever get a chance to lift the European Cup?The draw for the Champions League semi-finals , before Real Madrid go to Malaga on Sunday evening, live on Sky Sports Football
 Juventus host Sampdoria at 5pm on Sunday in Serie A
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