Real Madrid beat city rivals Atletico 4-2 on penalties to reach the Champions League quarterfinals following an enthralling round-of-16 tie which ended 2-2 on aggregate after extra time on Wednesday.

Antonio Rudiger converted the winning spot kick for Real after their second-leg match finished 1-0 to Atletico thanks to an early goal from midfielder Conor Gallagher.

Real will face Arsenal in the last eight.