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 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 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."