But Atletico Madrid made it 2-1 on the night and 3-3 on aggregate when Mario Hermoso's header deflected in off Dortmund defender Mats Hummels shortly after the restart.

Angel Correa then gave Atletico Madrid a 4-3 aggregate lead 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 - and set up a semi-final against Paris St-Germain.

Maatsen 'dreaming of this as a kid'

Dortmund defender Maatsen, whose goal gave Dortmund a 3-2 aggregate lead, said he had "been dreaming of [moments like this] as a kid".

"It is such an amazing feeling," he told CBS. "Especially now scoring a great goal and my first goal in the Champions League so I am very grateful and so happy."

Maatsen, 22, signed a contract extension with parent club Chelsea in January before joining Dortmund on loan until the end of the season.

The Dutchman had been playing Championship football this time last year while on loan at Burnley.

"I always had the belief to play for Chelsea but unfortunately for some reasons it didn't work out," he added.

"But, now I am here, I am very grateful for this opportunity. I came here to experience at the highest level and play my game and today I think I showed a very good performance."

Dortmund deservedly end 11-year absence

Dortmund had not reached the last four of the Champions League since they finished runners-up in 2012-13.

This is just the fourth time the German club have advanced beyond the quarter-finals.

Their achievement is even more remarkable considering they were 2-0 down in the first leg in Madrid and had looked out of the picture at half-time.

But in Germany they were ruthless, starting brightly and and almost taking the lead through Sabitzer, but the midfielder's shot was blocked on the line by former Chelsea defender Cesar Azpilicueta.

Atletico had a golden early opportunity of their own, but striker Alvaro Morata dinked the ball off target when through on goal.

And in the second period Correa poked an effort wide shortly before he gave his side a 3-2 aggregate lead.

But it was Dortmund who finished the stronger and could have added more but for two fine saves from Atletico keeper Jan Oblak to deny Fullkrug and Sabitzer late on.

Atletico conceded four goals in a Champions League knockout tie for the first time since losing 4-1 to rivals Real Madrid in the 2014 final. Diego Simeone's side have now gone seven years without reaching the final four of Europe's premier competition.

Maatsen (left) scored Dortmund's second in the 39th minute