Antonio Rudiger scored the decisive penalty as Real Madrid beat holders Manchester City in an edge-of-your-seat 4-3 shootout victory to reach the semi-finals of the Champions League for a record-extending 17th time after the teams were locked at 4-4 on aggregate following extra time on Wednesday.

The German defender's two strong displays against City's Norwegian hitman helped Madrid hold their own across 210 minutes of thrilling quarter-final action, ending in a 4-4 aggregate draw before the shoot-out.

Barcelona were also banned from selling tickets to their supporters for their next away European game, although that punishment is suspended for a year.

"We were very close, that is the reality. It's painful, but we have to learn from this. We had our moments, especially in the first half," Arteta said.

Bayern Munich will meet Real Madrid, who beat holders Manchester City on penalties on Wednesday.

It was sweet revenge for Real Madrid, who were thrashed 4-0 at the Etihad Stadium in their exit from the Champions League at the semi-final stage last year.

Real midfielder Federico Valverde was named UEFA's man-of-the-match, but Lunin had made a strong case to be handed the award after making two saves in their 4-3 shootout win after an inspired performance as they drew their quarter-final second leg 1-1.

"Congratulations to Real Madrid, they defend so deep, with incredible solidarity," Guardiola said. "We did everything. I have no regrets about what we've done. Defensively, offensively, we played exceptional in all departments, in everything, and unfortunately we couldn't win, so that's what it is."

Real Madrid exacted revenge on Manchester City to reach the Champions League semi-finals 4-3 on penalties after withstanding a barrage at the Etihad on Wednesday.

Mikel Arteta admitted Arsenal paid the price for making one big mistake as Bayern Munich's 1-0 victory sent his side crashing out of the Champions League on Wednesday.

A 63rd-minute Joshua Kimmich header gave Bayern Munich a 1-0 win over Arsenal and a place in the Champions League semi-finals on Wednesday.

Kevin De Bruyne kept Manchester City's defence of the Champions League alive by firing home an equaliser 14 minutes from time to send their quarter-final tie against Real Madrid to extra-time.

Last term, Real played out a 1-1 home draw with City in the semi-final, first leg before being thrashed 4-0 by Pep Guardiola's side, who won the competition for the first time.

City host Real Madrid in the second leg of their Champions League quarter-final tie on Thursday [1am, Bangladesh Time] at the Etihad having overcome them in the semi-finals last season on their way to winning the competition for the first time.

Dortmund overturned a 2-1 deficit from their quarter-final first leg against Atletico to win 5-4 on aggregate and will now renew their acquaintance with PSG, who beat Barcelona 6-4 over two legs to book their semi-final berth.

Araujo was dismissed in the 29th minute for pulling down Bradley Barcola on the edge of the box with Barcelona leading 1-0 on the night and 4-2 on aggregate.

Mbappe, who is set to leave PSG in the summer with Real Madrid as the biggest favourite to sign him, told reporters that his future is not in his mind and that his focus is totally on bringing glory to the French capital.

Eight days on from a captivating six-goal spectacular at the Santiago Bernabeu, Manchester City and Real Madrid reconvene for the second leg of their Champions League quarterfinal on Wednesday.

Mbappe wrapped up the win in the 89th minute.

Rodrygo's goals tend to come in fits and starts and with three in his last two games, the forward may have hit a new purple patch at a crucial moment