A spectacular beginning to the match as Atletico, urged on by the crowd at the Calderon, held a high line to pile the pressure on Real Madrid. The atmosphere at the stadium was intoxicating, and it certainly took over the hosts as they battled Madrid off the ball and caused trouble for Navas early on.
The Costa Rican keeper had to react quickly to deny Koke as the midfielder tried to toe-poke the ball into the near post, while Casemiro's header forced a good save from Jan Oblak.
Referee Cuneyt Cakir was not in the mood to let the match escape his grasp and did not hesitate when booking Danilo first, and then Savic, in the opening minutes.
And it was a dream start for Atletico as they were rewarded for their early pressure in the best possible way. Koke swung in the corner from the right and Saul rose at the near post to power a header past Navas.
The fans at the Vicente Calderon were going wild when Torres went down in the area after a rash challenge from Varane and the referee pointed to the spot. Keylor Navas got the slightest of touches as Griezmann's penalty found the back of the net.
There seemed to be a pause after the hectic opening fifteen minutes. Real Madrid managed to see more of the ball, albeit without proving to be a threat for Atletico's solid defence.
Things began to heat up in the midfield area, with several challenges receiving bookings. Simeone was a livewire at the touchline driving players on as well as the crowd, aware of the crucial nature of the next goal.
And it proved to be decisive as Benzema magically beat three defenders at the byline to pull the ball back for Kroos. The German's low shot was saved but Isco stabbed home the all-important away goal practically on the goal line. The goal, just before the break, came as a blow to the hosts, who at this point had to score three in order to make it to the final.
Atletico attempted to fight back in the second half, but they had a mountain to climb with Real Madrid looking more dangerous on the break. Isco carried Real's attacking play in yet another wonderful performance which brings to question Zidane's decision to leave him out of such important fixtures.
Atletico grew frustrated as the away team cancelled out their attempts to pull a goal back, but the home support never gave up with a true display of passion and pride.
Navas pulled off a fantastic double save to deny Carrasco and Gameiro halfway through the second period, before the Costa Rican turned behind another effort from Griezmann.
Real Madrid also had chances to score another as the rain began to pour down at the Calderon, but there were no more goals in this fixture that had virtually been over since Isco's goal on the verge of half time.
European giants Real Madrid and Juventus will face each other in the final in Cardiff on the 3rd of June, after Zidane's team beat rivals Atletico 4-2 on aggregate.