Champions League holders Real Madrid crashed out of the competition with a 1-1 draw at the Bernabeu that saw Italian giants Juventus advance to the final 3-2 on aggregate.
Madrid went ahead in the 23rd minute when Cristiano Ronaldo netted from the spot after a foul on James Rodriguez by Giorgio Chiellini. Juventus protested as the contact looked minimal, but Swedish referee Jonas Eriksson pointed to the spot and Ronaldo beat Gianluigi Buffon down the middle.
Sergio Ramos and Karim Benzema went close, while Ronaldo wasted a glorious chance on the counter attack, but the sides went into the half tied at 2-2 on aggregate and with Juventus still needing a goal to avoid losing out on away goals.
Then, in the 57th minute a cross came in and wasn't dealt with by Iker Casillas. Paul Pogba's header across the box found Alvaro Morata and the former Madrid striker chested the ball down and hammered an equaliser.
Moments later, Juve had a chance to put the tie to bed as Claudio Marchisio slipped through the defence, but Casillas beat his shot away.
Madrid continued to push for a goal that would seal extra-time, but Gareth Bale headed wide from a very similar position to his 2014 Champions League winner against Atletico and a Patrice Evra push on substitute Javier Hernandez wasn't punished.
Juventus took off Andrea Pirlo for defender Andrea Barzagli and, after Pogba's shot was saved by Casillas, the Italians shut up shop to claim their first European Cup final place since 2003.