Serie A leaders Juve staged a stunning fightback in the Spanish capital after losing the first leg 3-0, levelling the tie with two goals from Mario Mandzukic and a tap in by Blaise Matuidi.
Just as Juve looked to have sensationally taken their quarter-final to extra time at the Bernabeu, Ronaldo took a maximum-pressure penalty to help Real Madrid survive the most unexpected of scares.
At the end of the game Ronaldo said: "We had to suffer, to learn, it serves as a lesson that in football certain things can never be ruled out". "If they didn't make the foul, Lucas would score the goal".
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"We didn't expect to concede an early goal like that", Madrid coach Zinedine Zidane said.
Like Real Madrid, Bayern Munich are accustomed to the latter stages of the Champions League.
Real Madrid have qualified to the semifinals of the Uefa Champions League for the 7th time running beating Juventus to do so after the two legs.
"We started the game saying to each other that we had 0.000001 percent chance of qualifying but you never know in life, especially because we have a team with players with unbelievable characters who are capable of everything", he said.
Zidane was asked about his thoughts on the penalty incident, to which he responded, "It was a penalty, they've told me it was a penalty".
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Juventus took advantage of Madrid's depleted defense, which was without suspended captain Sergio Ramos and had 21-year-old Jesus Vallejo playing alongside Raphael Varane.
"We should face and we did everything possible to go through", the Brazil global full-back said.
The Spaniard was involved in a verbal exchange with Allegri near the final whistle after Ronaldo tucked his penalty away.
"We are in the semi-final now and I'd rather talk about the game". Cristiano Ronaldo stepped and smashed the penalty kick past the visitor's substitute goalkeeper Wojciech Szczesny to seal the win.
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