Griezmann’s second half breakaway goal made all the different in the hard-fought battle as the Spaniards qualified on away goal despite losing 2-1 on the night.
Xabi Alonso had put the Germans ahead to make it look like a perfect night before Thomas Muller then missed a penalty that could have made the game more difficult for the visitors.
They were left to rue the missed penalty when Atletico scored as the first half ended 1-1.
Atletico were happy to let Bayern have all the possession for most part of the game as they held on desperately.
Robert Lewandowski headed in from Arturo Vidal’s clever head back across the goal to turn the heat up with 74 minutes on the clock putting Bayern back in front on the night.
It was a dramatic climax to the game as Fernando Torres also missed a controversial penalty awarded for a Javi Martinez foul that was clearly outside the box.
Bayern pressed harder in the dying minutes but failed to get the third goal.
Atletico match on to another Champions League final awaiting the winner between city rival Real Madrid and Manchester City.
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