Reigning champions Real Madrid will face neighbours Atletico Madrid, while Monaco meet Juventus, when the four remaining sides fight for a place at the UEFA Champions League final in Cardiff.

Real reached a record seventh successive semi-final after defeating Bayern Munich 6-3 on aggregate, while Atletico find themselves at the penultimate stage following a 2-1 win over Leicester City.

As Zinedine Zidane’s men aim to become the first side in the Champions League era to retain the title, they now know for certain that they won’t be lifting the trophy in a similar fashion to their last two triumphs, being denied a third final against city rivals Atletico. Diego Simeone’s side have been eliminated by Real in each of the last three editions, with two of those coming at the last hurdle.

Having seen off Barcelona 3-0, Juventus knew they would be enjoying another reunion from their run to final – and eventual defeat to La Blaugrana – in 2015, having played all three teams in the draw en route.

I Bianconeri locked horns with Monaco at the quarter-final stage, with Arturo Vidal’s penalty all that separated the pair, while they met at this stage in 1998 where the Turin outfit progressed 6-4 on aggregate.

The French Ligue 1 side are hoping to return to the final for the first time in 13 years having reached the penultimate stage for the fourth time in their history after getting beyond Borussia Dortmund 6-3 on aggregate.

The winner of the Champions League will represent Europe at the FIFA Club World Cup UAE 2017 in December.

UEFA Champions League semi-finals2/3 May – Real Madrid-Atletico Madrid, Monaco-Juventus 9/10 May – Atletico Madrid-Real Madrid, Juventus-Monaco