Bayern Munich hosted Diego Simeone's team at the Allianz after falling short at the Calderon as Saul Niguez's terrific solo goal gave Atletico a one goal advantage to take to Munich with them. It was another case of one goal being enough for Atléti again, as they advanced on away goals thanks to an Antoine Griezmann strike.
Bayern Munich dominance
The game started as it was expected to, Bayern desperately trying to force their way through the Atletico Madrid defence in the hope of snatching an early goal. The first real chance of the game fell to Robert Lewandowski, after Douglas Costa's perfectly weighted cross found the head of Lewandowski, however experienced full back Juanfran tracked the striker down, watching the ball go out for a goal kick.
Atletico Madrid had a rare chance minutes later, after Filipe Luis' cross found Antoine Griezmann who controlled the ball quickly, setting the shot up for Gabi Fernandez; the Spaniard's shot rolling wide of Neuer's post.
Nightmare for young Gimenez
In the 23rd minute of the game, the deadlock was broken by the home team. After winning a free kick on the edge of the box, Xabi Alonso's direct shot snuck through the nine man wall, deflected through the legs of Jose Gimenez, leaving Jan Oblak helpless in the Atletico goal.
Minutes later, Bayern were gifted the opportunity to take the lead for the first time in the tie. Gimenez was booked after tussling with Javi Martinez in the box, resulting in referee Cuneyt Cakir rewarding Bayern Munich with a penalty.
Thomas Müller was the man to take the penalty, but his strike was saved sensationally by Oblak, the Slovenian 'keeper was quick to react to the rebounded shot by Alonso before celebrating his mesmerising shot stop.
Counter attacking brilliance by Atletico
Shortly after the kick off for the second half, Atletico broke Bayern Munich hearts as their counter attacking play struck down another one of Europe's finest teams. Just like we saw against Barcelona, the link up between Griezmann and Torres proved to be a force unable to be stopped.
After winning the ball back on the half way line, the Frenchman played a one two with his teammate, Griezmann continued his run and was found by Torres beyond the reach of Boateng. The Atletico number seven kept his cool with a composed finish past Neuer, giving the visitors the away goal they craved.
Bayern begin to fight back
Bayern struggled to regain their dominance of the game after the goal, a chance fell to Lewandowski from a silky ball lifted over the top by Arturo Vidal, Lewandowski volleyed the ball towards goal, but his shot was saved comfortably by Oblak.
The combination of Vidal and Lewandowski was the key to unlocking the Atletico defence once more. Vidal's header across goal from a looping cross by David Alaba found Lewandowski in front of goal who made no mistake when heading in Bayern's second goal in the match.
Second Penalty decision of the game
Atletico Madrid were rewarded with a penalty after Fernando Torres was brought down by Javi Martinez, there was speculation that the foul was outside of the box, but the decision stood. Torres quickly stepped up to take the vital penalty, six minutes from time.
However, just like at the other end of the pitch in the first half, the penalty was saved. Neuer pounced upon Torres' left sided shot, almost identical to Muller's miss in the first half, giving Bayern a lifeline in the match.
Guardiola falls short to another Spanish team
The penalty save was not enough to inspire Bayern to victory, and for Pep Guardiola to have his first shot in a Champions League final with Bayern Munich. Another resilient performance by Atletico Madrid, keeping one of Europe's best attacking sides out.
Bayern Munich can cheer themselves up in the Bundesliga on Saturday as a win in Ingolstadt would see them be crowned league champions.
Atletico will see who their opponent will be in the final as Manchester City and Real Madrid battle for a place in the Milan final at the Bernabeu tomorrow evening.