Real Madrid 3-1 Atletico Madrid: Karim Benzema and Vinicius Jr. scored in extra time
Atletico took the lead with Alvaro Morata scoring from close range following Nahuel Molina's low cross.
Real were 11 minutes from going out but equalised when Rodrygo beat three players and scored a great goal.
Atletico's Stefan Savic was sent off for two bookable offences before Karim Benzema put Real ahead in the 104th minute, with Vinicius Jr adding a third.
Benzema steered a low shot past Jan Oblak after the visitors had failed to deal with Marco Asensio's low cross and Vinicius Jr sealed the victory as he passed the ball into the bottom corner after a fine run.
Barcelona and Osasuna beat Real Sociedad and Sevilla, respectively, in their quarter-finals on Wednesday, and Athletic Bilbao won 3-1 at Valencia on Thursday to join them in the semi-finals.
The draw for the final four will take place on Monday, 30 January, with the first legs in early February and the second at the beginning of March, before the last on 6 May.
Earlier on Thursday, La Liga said it "strongly condemns acts of hatred and intimidation against Vinicius Jr" after an effigy of the Real Madrid winger was hung from a bridge near the club's training ground.
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