"We're left with a bitter taste after coming within reach of extra time and being able to really go for it".
But, just as a thrilling second leg looked to be heading for extra time, English referee Michael Oliver awarded Real a penalty in stoppage time.
Madrid had won 3-0 in the first leg in Turin last week, when Ronaldo scored one of his two goals with an unbelievable overhead kick.
An enraged Juventus legendary goalkeeper Gianluigi Buffon protested the decision of the referee, earning a red card.
It drew parallels with Real boss Zinedine Zidane when his France playing career ended with a sending off at the 2006 World Cup final for a headbutt on Italy defender Marco Materazzi.
Despite having a 3-0 lead from the first leg, Real Madrid capitulated at the Bernabeu in the second leg as Juventus took a 1-0 lead within two minutes before scoring two more goals to set up a tantalising finish. Unbelievably the Turin giants score a third to level the tie on the hour mark, as midfielder Blaise Matuidi capitalised on a awful error by home goalkeeper Keylor Navas to score from close-range.
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Daily AS declared on its front page that Madrid went "from panic to the semi-finals".
"We could've scored five or six goals, so we ought to be proud".
Real needed a controversial injury-time penalty from Cristiano Ronaldo to secure their progress to the semi-finals. "That allowed their team to grow and it made things hard for us".
They lost 2-0 at Borussia Dortmund in 2014, going through 3-2 on aggregate and scraped into the semis two years ago by the same aggregate score after a 2-0 defeat to VfL Wolfsburg. The defense was sloppy without Sergio Ramos.
With substitute keeper Wojciech Szczesny on the goal line, Ronaldo sent a blast into the top corner to win the tie for Real Madrid with his 15th goal of the current Champions League campaign.
Navas on his best day would have properly handled the cross inside the box but due to lack of concentration he spilled the ball as Matuidi pounced on the error.
The Spanish centre-back was initially seen up in the stands watching the game but soon made his way to the Real Madrid bench in the second half.
Guardiola seeks flawless game against Liverpool
It's more than 90 minutes but we showed many times, in a short period we can create chances and you have to be clinical. I like to watch my team, the way we play this season and the way we played in the first half against United.
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However, soaring USA crude production, which has jumped by a quarter since mid-2016, threatens to undermine Opec's efforts. The United States late past year overtook top exporter Saudi Arabia as the world's second biggest crude producer.