Atletico Madrid were Champions League runners-up in 2013-4 and 2015-16
Substitute Hector Herrera scored a 90th-minute equaliser to crown a fine Atletico Madrid comeback and deny Juventus victory in the Champions League.
Former Chelsea winger Juan Cuadrado produced a sumptuous curling finish to put Juventus in front before a header by French World Cup winner Blaise Matuidi made it 2-0.
Stefan Savic sparked Atletico's fightback with a header inside the six-yard area before Herrera struck from a late corner.
Juventus sent on substitute Aaron Ramsey in the 86th minute, the Wales midfielder's first appearance for the champions of Italy since moving to Turin in the summer.
In Group D's other game, Lokomotiv Moscowwon 2-1 in Germany against Bayer Leverkusen.
Juventus host Leverkusen on 1 October while Atletico travel to Russia to face Lokomotiv on the same day (both 20:00 BST).
Can the Juventus revolution lead to Champions League glory?
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Line-ups
Match Stats
Live Text
Line-ups
Atl Madrid
13Oblak
23Trippier
15Savic
2Giménez
12Lodi dos SantosSubstituted forMachÃn Pérezat 76'minutes
6Koke
5ParteySubstituted forHerreraat 76'minutes
8Saúl
11LemarSubstituted forCorreaat 60'minutes
7Sequeira
19Diego CostaBooked at 83mins
Substitutes
1Adán
4Arias
10Correa
14Llorente
16Herrera
18Felipe
20MachÃn Pérez
Juventus
1Szczesny
13Danilo
19Bonucci
4de Ligt
12Lobo Silva
6KhediraSubstituted forBentancurat 69'minutes
5PjanicSubstituted forRamseyat 87'minutes
14MatuidiBooked at 15mins
16Ju CuadradoBooked at 71mins
21HiguaÃnSubstituted forDybalaat 80'minutes
7Cristiano Ronaldo
Substitutes
8Ramsey
10Dybala
25Rabiot
28Demiral
30Bentancur
33Bernardeschi
77Buffon
Referee:
Danny Makkelie
Match Stats
Home TeamAtl MadridAway TeamJuventus
Possession
Home46%
Away54%
Shots
Home19
Away11
Shots on Target
Home8
Away6
Corners
Home11
Away5
Fouls
Home12
Away12
Live Text
Posted at
Match ends, Atlético de Madrid 2, Juventus 2.
Full TimePosted at 90'+6'
Second Half ends, Atlético de Madrid 2, Juventus 2.
Posted at 90'+4'
Attempt missed. Cristiano Ronaldo (Juventus) right footed shot from the left side of the box is close, but misses to the right. Assisted by Alex Sandro.
Posted at 90'+1'
Alex Sandro (Juventus) wins a free kick in the defensive half.
Posted at 90'+1'
Foul by Ãngel Correa (Atlético de Madrid).
Goal!Posted at 90'
Goal! Atlético de Madrid 2, Juventus 2. Héctor Herrera (Atlético de Madrid) header from the centre of the box to the bottom right corner. Assisted by Kieran Trippier with a cross following a corner.
Posted at 90'
Corner, Atlético de Madrid. Conceded by Paulo Dybala.
Posted at 90'
Attempt blocked. Héctor Herrera (Atlético de Madrid) right footed shot from outside the box is blocked. Assisted by Saúl ÃÃguez.
Posted at 88'
Corner, Atlético de Madrid. Conceded by Rodrigo Bentancur.
SubstitutionPosted at 87'
Substitution, Juventus. Aaron Ramsey replaces Miralem Pjanic.
Posted at 86'
Paulo Dybala (Juventus) wins a free kick on the left wing.
Posted at 86'
Foul by Stefan Savic (Atlético de Madrid).
BookingPosted at 83'
Diego Costa (Atlético de Madrid) is shown the yellow card.
Posted at 83'
(Juventus) wins a free kick in the defensive half.
Posted at 83'
Diego Costa (Atlético de Madrid).
Posted at 83'
Attempt blocked. João Félix (Atlético de Madrid) right footed shot from the centre of the box is blocked. Assisted by Ãngel Correa.
Posted at 82'
Corner, Atlético de Madrid. Conceded by Wojciech Szczesny.
Posted at 82'
Attempt saved. Vitolo (Atlético de Madrid) right footed shot from outside the box is saved in the top centre of the goal. Assisted by Koke.
Posted at 80'
Corner, Juventus. Conceded by Vitolo.
SubstitutionPosted at 80'
Substitution, Juventus. Paulo Dybala replaces Gonzalo HiguaÃn.
Posted at 79'
Juan Cuadrado (Juventus) wins a free kick on the right wing.
Posted at 79'
Foul by José Giménez (Atlético de Madrid).
SubstitutionPosted at 76'
Substitution, Atlético de Madrid. Vitolo replaces Renan Lodi.
SubstitutionPosted at 76'
Substitution, Atlético de Madrid. Héctor Herrera replaces Thomas Partey because of an injury.
Posted at 73'
Attempt blocked. Blaise Matuidi (Juventus) left footed shot from the centre of the box is blocked.
Posted at 73'
Attempt saved. Gonzalo HiguaÃn (Juventus) right footed shot from the centre of the box is saved in the bottom right corner. Assisted by Rodrigo Bentancur.
Posted at 73'
Attempt saved. Koke (Atlético de Madrid) right footed shot from outside the box is saved in the bottom right corner.
BookingPosted at 71'
Juan Cuadrado (Juventus) is shown the yellow card.
Posted at 71'
Juan Cuadrado (Juventus) wins a free kick in the defensive half.
Posted at 71'
Foul by Renan Lodi (Atlético de Madrid).
Goal!Posted at 70'
Goal! Atlético de Madrid 1, Juventus 2. Stefan Savic (Atlético de Madrid) header from very close range to the bottom right corner. Assisted by José Giménez with a headed pass following a set piece situation.
Posted at 69'
Foul by Rodrigo Bentancur (Juventus).
Posted at 69'
Koke (Atlético de Madrid) wins a free kick in the attacking half.
SubstitutionPosted at 69'
Substitution, Juventus. Rodrigo Bentancur replaces Sami Khedira.
Posted at 68'
Miralem Pjanic (Juventus) wins a free kick in the defensive half.
Posted at 68'
Foul by Ãngel Correa (Atlético de Madrid).
Posted at 67'
Corner, Atlético de Madrid. Conceded by Matthijs de Ligt.
Posted at 67'
Attempt missed. Ãngel Correa (Atlético de Madrid) right footed shot from the right side of the box misses to the left. Assisted by Kieran Trippier.
Goal!Posted at 65'
Goal! Atlético de Madrid 0, Juventus 2. Blaise Matuidi (Juventus) header from the left side of the six yard box to the high centre of the goal. Assisted by Alex Sandro with a cross.
Posted at 63'
Foul by Cristiano Ronaldo (Juventus).
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goal
Source: bbc.com