Bayern Munich scored two late goals to knock record 15-time European champions Real Madrid out of the Champions League following a thrilling 4-3 win at the Allianz Arena on Wednesday.

The quarterfinal second leg ended in acrimony with Madrid’s players furious that referee Slavko Vinčić sent off Eduardo Camavinga with a second yellow card for an innocuous-looking foul on Harry Kane after being urged to do so by the Bayern players in the 86th minute.

Luis Díaz fired inside the right post three minutes later, and Michael Olise ended the contest definitively with a shot in off the far post in stoppage time to give Bayern a 6-4 win on aggregate after the Bavarian powerhouse won the first leg of its quarterfinal 2-1 in Madrid last week.

Madrid’s players surrounded Vinčić after the game. Arda Güler, who scored two brilliant goals to spark the visitors’ hopes of a famed “remontada” (comeback), was shown a red card for his vehement complaints.

Alexandra BEIER / AFP via Getty Images

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Kylian Mbappé also found the net for Madrid in a frenetic first half that ended 3-2 to Madrid, with Aleksandar Pavlovic and Harry Kane, with his 50th Bayern goal of the season, responding for the German champions.

Bayern will play Paris Saint-Germain in the semifinals after reaching the last four for the 14th time, second only to Madrid’s 17.

The victory also snapped a run of four straight defeats to Madrid in the Champions League knockout stages and condemned the Spanish giants to quarterfinal exits in successive seasons for the first time.

In Munich, Güler had opened the scoring after just 34 seconds thanks to a mistake from Bayern goalkeeper Manuel Neuer — who was outstanding in the first leg — whose attempted pass went straight to the 21-year-old Turkey star, who delayed not but fired the ball into the empty net from distance.

Bayern seemed unfazed and Pavlović equalized with a point-blank header from a Joshua Kimmich corner in the sixth minute and Bayern maintained its dominance with Madrid patiently looking for breaks.

Konrad Laimer did well to block Mbappé, who had an adhesive bandage above his right eye after getting a heavy blow to his face last weekend.

Güler beat Neuer with a brilliant free kick in the 29th but Bayern had legitimate complaints it should not have been awarded with Brahim Díaz going down after minimal contact from Laimer.

Bayern again seized control and it was no surprise when Kane equalized in the 38th inside the right post after being left free by English compatriot Trent Alexander-Arnold.

Vinícius Júnior then struck the crossbar before setting up Mbappé to restore Madrid’s lead on the night in the 42nd.

There were no more, however, until the late drama.

The Associated Press and ESPN Research contributed to this report.