Atletico Madrid beat Bayern Munich on away goals (2-2 on aggregate) to take the Spanish champions through to their second Champions League final in three years.

Antoine Griezmann’s equaliser to answer Xabi Alonso’s first half free kick was enough to see the Spanish champions through.

Robert Lewandowski pulled a goal back from Bayern to make it 2-2 on aggregate, but it wasn’t enough to prevent Atletico going through on away goals.

It was a pulsating game that featured high quality football, controversial decisions, two missed penalties and spat between the two managers.

Xabi Alonso had opened the scoring after 25 minutes, the Spaniard’s effort from the left hand side deflected off a body in the wall and skipped past the hand of goalkeeper Jan Oblak.

Oblak then denied Thomas Muller from the penalty spot two minutes later after Jose Gimenez was booked for hauling down Javier Martinez from a corner.

But seven minutes into the second half, after soaking up near constant pressure from the home side, Atletico shocked Bayern with a devastating counterattack.

The visitors broke at pace through the middle, with Griezmann exchanging passes with as Fernando Torres and sprinting clear before finishing neatly past Manuel Neuer.

Bayern, continuing to press, responded 20 minutes later. David Alaba’s deep cross from the left was headed across goal by Arturo Vidal and nodded in from point-blank by Robert Lewandowski to make it 2-2 on aggregate.

Atletico had the chance to seal the tie after 85 minutes but Torres’s penalty was saved by Neuer.