Aletico Madrid scored their first goal in the 56th minute through Niguel Saul who was assisted by former Chelsea player Fernando Torres.
Chelsea drew with Atletico Madrid at Stamford Bridge and in doing so gave up top spot in their group to Roma, who beat Qarabag in Italy 1-0.
Saul Niguez put Atletico ahead with a header but Eden Hazard equalised with a left-footed strike in the second half.
The results meant Atletico have been eliminated from the competition and will now head into the Europa League draw.
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