Champions League holders Real Madrid crashed out of the competition with a 1-1 draw at the Bernabeu that saw Italian giants Juventus advance to the final 3-2 on aggregate.
Madrid went ahead in the 23rd minute when Cristiano Ronaldo netted from the spot after a foul on James Rodriguez by Giorgio Chiellini. Juventus protested as the contact looked minimal, but Swedish referee Jonas Eriksson pointed to the spot and Ronaldo beat Gianluigi Buffon down the middle.
Sergio Ramos and Karim Benzema went close, while Ronaldo wasted a glorious chance on the counter attack, but the sides went into the half tied at 2-2 on aggregate and with Juventus still needing a goal to avoid losing out on away goals.
Then, in the 57th minute a cross came in and wasn't dealt with by Iker Casillas. Paul Pogba's header across the box found Alvaro Morata and the former Madrid striker chested the ball down and hammered an equaliser.
Moments later, Juve had a chance to put the tie to bed as Claudio Marchisio slipped through the defence, but Casillas beat his shot away.
Madrid continued to push for a goal that would seal extra-time, but Gareth Bale headed wide from a very similar position to his 2014 Champions League winner against Atletico and a Patrice Evra push on substitute Javier Hernandez wasn't punished.
Juventus took off Andrea Pirlo for defender Andrea Barzagli and, after Pogba's shot was saved by Casillas, the Italians shut up shop to claim their first European Cup final place since 2003.
The tone was set for a night of Madrid attacks just 35 seconds in when Marcelo's deep cross picked out Bale, who headed over.
Benzema used brilliant skill to turn away from Leonardo Bonucci, only to blaze over, before Ronaldo's free-kick was deflected on to the roof of the net.
Madrid were eventually rewarded in the 22nd minute when Chiellini's clumsy challenge on James Rodriguez gave them a penalty Ronaldo converted with ease, and there was no let up as they pushed forward again.
Ronaldo cut back in the area and appeared to give himself an easy shot to score, but chose to cross for Benzema and saw the ball cleared.
When Bale launched a swift counter-attack Ronaldo fired a powerful shot into the side-netting, and Benzema then brought a fine save out of Buffon with a close-range effort before the first half ended with a booking for Rodriguez as he took an exaggerated tumble in the area.
Little appeared to have changed after the break as Marcelo sent a bobbling shot wide, but Juve gradually began to build a head of steam.
At first there appeared little genuine threat as an offside flag frustrated Morata but they were edging forward, and the complexion of the night changed dramatically after Ramos fouled Arturo Vidal on the wing.
Casillas punched the free-kick clear but it was pumped straight back in and Paul Pogba headed it down for Morata to control and fire home.
The former Madrid man again did not celebrate but his team-mates certainly did with the odds back in their favour.
Bale was inches away from the perfect response as he did his best to hook in Marcelo's cross after a neat move but Juve had their tales up now and came forward again.
Marchisio's cross was just beyond Morata's reach, but they had the perfect chance to kill off Madrid in the 69th minute when Vidal slipped the ball through to Marchisio. He had the whole goal to shoot at but failed to disguise his intentions and Casillas made a huge save.
Madrid took heart, but Bale's powerful shot from the edge of the area flashed wide, and he then headed Marcelo's cross over from point-blank range.
The Welshman's boo-boys re-emerged in the stands but he did not shrink away, flashing a long-range shot narrowly wide in the 84th minute.
Pogba missed the chance to kill it off 88th minute when the ball came back to him on the penalty spot only for Casillas to palm it clear, but Juve were able to see out four minutes of stoppage time and book their ticket to Berlin.