It was a simple match for Atletico Madrid as they received a goal through Saul in the 50th minute of the match.
With Atlético packing their defence, Ronaldo made the crucial breakthrough in the 27th minute when he rose to head in Federico Bernardeschi's cross at the far post.
Juventus thought they had taken the lead less than three minutes into the game but VAR confirmed that Ronaldo had fouled Atletico goalkeeper Jan Oblak before Giorgio Chiellini fired in the rebound.
Atletico Madrid's vaunted center-back pairing finally got the better of Cristiano Ronaldo on Wednesday, even providing the goals after holding their long-time rival scoreless for once.
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Ronaldo, jeered almost every time he touched the ball, had a quiet performance in his first match in the Spanish capital since leaving Real Madrid last summer.
Atletico coach Diego Simeone has chosen a 4-4-2 formation with defender Diego Godin returning from injury while forward Alvaro Morata starts alongside Antoine Griezmann instead of suspended Diego Costa.
That miss was punished four minutes after the restart when goal-line technology ruled Oblak failed to keep out another Ronaldo header, Joao Cancelo this time providing the cross.
Ronaldo netted from open play in each half and then converted a late penalty as Juventus advanced 3-2 on aggregate, ending Atletico's hopes of reaching the final at their Wanda Metropolitano Stadium.
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Can Ronaldo steer Juventus to European glory?
No. 7 will need to showcase his A-game in this one; otherwise, he won't be bringing home a Champions League trophy for the fourth consecutive year.
Atletico Madrid is back in the round of 16 after failing to make it out of the group stage last season.
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