They were beaten 2-1 by German champions Bayern Munich but progress on away goals
Atletico Madrid advanced to their second Champions League final in three years after they did enough to squeeze by Bayern Munich at the Allianz Arena.
Diego Simeone's side were beaten 2-1 on the night but a crucial away goal from Antoine Griezmann in the second half ensured they would progress at the expense of the German champions (2-2 on aggregate).
Pep Guardiola's side began far the quicker side as Atletico dropped deep in defence, Arturo Vidal and Robert Lewandowski kept Jan Oblak busy in the visitors' goal with long range efforts.
The German's took the lead on 31 minutes, a well worked freekick routine opened up enough room for Xabi Alonso to get his shot on target and the deflection off Jose Gimenez took it past Oblak.
Bayern really should have doubled their lead just minutes later, Gimenez once again involved as he fouled Javi Martinez in the box. Thomas Muller stepped up but his effort was well saved.
Guardiola's side went on the offensive in the second half and pushed their defensive line further up the field, to their detriment it would turn out.
Gabi Fernandez celebrates after his teammate Antoine Griezmann scored their first goal during the Champions League second leg semifinal soccer match between Bayern Munich and Atletico de Madrid in Munich. (AP Photo/Michael Probst)
Fernando Torres released Griezmann who skipped away from the centre backs and tricked Manuel Neuer to finish low at the near post.
Two goals were then required to progress to the final and with 15 minutes remaining Bayern were thrown a lifeline.
Vidal kept the ball alive as he headed an overcooked cross back across the face of goal for Lewandowski to nod into an empty net.
Robert Lewandowski scores his side's second goal during the Champions League second leg semi-final between Bayern Munich and Atletico de Madrid in Munich. (AP Photo/Michael Probst)
Jan Oblak wasn't to be the only hero on the night to produce heroics from the penalty spot, Manuel Neuer denied Torres after referee Cuneyt Cakir incorrectly adjudged him to have been fouled inside the area.
Simeone's side held their nerve and will meet either Manchester City or fierce rivals Real Madrid in the final in a repeat of the 2014 competition's climax.