Bayern came into the second leg at the Allianz Arena trailing 1-0 from the first leg but Xabi Alonso levelled the tie on aggregate with a deflected free-kick just after the half hour.

However, Thomas Mueller then had a penalty saved and Antoine Griezmann grabbed a decisive away goal for the Spaniards in the 54th minute.

Robert Lewandowski put Bayern back in front on the night but Atletico held on despite Fernando Torres having a spot-kick saved by Manuel Neuer.

Atletico will play the winner of the second semi-final between Real Madrid and Manchester City, who meet in the second leg in Spain on Wednesday after a goalless first leg.

The final will be played in Milan on May 28.