Borussia Dortmund reached their first Champions League semi-final in 11 years by producing a superb second-half comeback to beat Atletico Madrid 5-4 on aggregate.

Having lost the first leg 2-1 in Madrid, Dortmund quickly turned things around in the tie with Julian Brandt and Chelsea loanee Ian Maatsen both scoring from tight angles in the first half.

But Atletico Madrid made it 2-1 on the night and 2-2 on aggregate when Mario Hermoso's header deflected in off Dortmund defender Matts Hummels shortly after the restart.

Angel Correa then gave Atletico Madrid a 4-3 aggregate when he smashed in a rebounded finish from close range in the 64th minute.

But Dortmund levelled once again in a thrilling second half as Niclas Fullkrug finished off Marcel Sabitzer's cross with a looping header after 71 minutes.

And less than three minutes later Sabitzer struck Dortmund's winner with a drilled finish into the bottom corner to round off a sublime quarter-final tie.