It din’t take long for Max Allegri’s side to silence the home crowd, after Mario Mandzukic headed home in just the second minute from Sami Khedira’s cross.
A scorer against Madrid in the Champions League final last season, the Croatian international seized his starting spot with Paulo Dybala suspended following his red card from the first leg match in Turin last week.
The 31-year-old then doubled Juventus’ lead with another header in the 37th minute, leading Zinedine Zidane to haul off Gareth Bale at half-time after failing to make an impression.
The perfect start from the Serie A leaders continue on the second half as the former Paris Saint-Germain midfielder Blaise Matuidi pounced to capitalise on Keylor Navas’ fumble to level the tie on aggregate before the dramatic ending.
And with the tie looking as though it was heading for an extra 30 minutes, Vaquez was bundled over by Benatia in the 93rd minute. Juventus were left apoplectic, with Buffon in particlular left enraged over the decision.
Juve goalkeeper Gianluigi Buffon, in what might be his last Champions League appearance, was sent off by English referee Michael Oliver after awarding the spot-kick, for foul and abusive language.
Cristiano Ronaldo coolly taken 97th minute penalty into the top corner to extinguish Juventus’s comeback. Real Madrid join Liverpool, AS Roma and Bayern Munich in the last-four draw, which takes place in Nyon on Friday.