Even Fernando Torres' penalty miss failed to stop the Spanish side marching into another decider, while Thomas Muller also erred from the spot in a pulsating clash.
tletico Madrid followed up their Barcelona heroics by dumping another favourite out of the Champions League, as a 2-1 defeat to Bayern Munich nevertheless sent them through to the final on away goals.
Diego Simeone's men saw their 1-0 advantage from the first leg wiped out when Xabi Alonso scored from a deflected free-kick, but Jan Oblak subsequently denied Thomas Muller from the penalty spot.
Antoine Griezmann then converted a swift counter to put Atletico back ahead, and despite Robert Lewandowski's header and a Fernando Torres penalty miss the visitors held firm to book their second final in three years.