Felipe Santana (right) mobbed by his B. Dortmund team-mates after scoring the winner against Malaga last night.

Borussia Dortmund scored two late goals to controversially knock out debutants Malaga and reach the Champions League semi-finals yesterday while Real Madrid thwarted a valiant Galatasaray fightback to progress.

Dortmund scored twice in stoppage time, including a controversial offside goal, to beat Malaga 3-2.

Malaga appeared to be heading into the last four in their debut season in the Champions League but their dreams were dashed when last-gasp goals from Marco Reus and Felipe Santana sent the Germans through in a stunning encounter.

Santana’s winner left the Malaga players fuming as when the cross came in, four players appeared offside and when the Brazilian defender poked the ball over the line in the dying seconds, he too looked offside.

“I have never experienced anything like this. We were already dead,” Dortmund boss Hans-Joachim Watzke told reporters.

Dortmund sports director Michael Zorc added: “It is difficult to put this into words. We were lucky tonight. The team missed so many chances but kept on believing.”

The Spaniards, who drew 0-0 in the first leg, stunned the 66,000 crowd in Dortmund when Joaquin shook off his markers and drilled in a low shot for the lead in the 25th minute.

Dortmund striker Robert Lewandowski drew the hosts level in the 40th minute and they squandered a string of chances in the second half with Reus and Mario Goetze.

Eliseu appeared to seal Dortmund’s fate when he put the Spaniards ahead in the 82nd minute but the Germans refused to surrender and sparked wild celebrations among the home fans as they booked their first semi-final spot in Europe’s premier club competition in 15 years.

Malaga, who toppled former champions Porto in the previous round and Milan in the group stage, looked set to become the first team in Europe this season to beat Dortmund but ended up feeling that they had been robbed of their chance to reach the last four.

In yesterday’s other match, Real Madrid progressed to the last four of the Champions League despite defeat on the night to a Galatasaray side whose second-half comeback had Jose Mourinho’s side in a panic.

Already three goals up from the first leg at the Bernabeu, the tie was seemingly put to bed by Cristiano Ronaldo’s seventh-minute strike.

But an Emmanuel Eboue thunderbolt brought Galatasaray back level before Wesley Sneijder put the home side ahead after 70 minutes.

Seconds later Didier Drogba reduced the aggregate deficit further and although Real substitute Alvaro Arbeloa saw red late on, Ronaldo notched his second in injury time, as Madrid’s quest for a 10th European Cup continued.

Mourinho was forced into his first change after 31 minutes when Michael Essien had to be replaced by Arbeloa due to a leg injury.

Eboue’s goal galvanised the home side and with the Ataturk Stadium firmly behind their side Gala took a deserved lead.

Sneijder showed a turn of pace more associated with his best days at Inter, nutmegged Rafael Varane before side-footing into the corner.

And moments later it was 3-1 when Drogba got in front of his defender to flick a cross into the corner of the net.

Raul Albiol replaced Mesut Ozil as Mourinho looked to arrest his team’s slide, but they had to play out the final moments with 10 men after Arbeloa saw red after receiving a second yellow card for dissent.

There was still time for a fifth goal on the night when Ronaldo scored in injury time.

“This match will serve as an example for us in the future,” Ronaldo told Spanish broadcaster TVE.

“In football you cannot just give chances away.

“They made things hard but in reality we were the ones who made things complicated for ourselves. We must make sure that we are switched on for the full 90 minutes.”

The last two quarter-finals will be completed today when Juventus bid to overturn a 2-0 deficit at home to Bayern Munich and title favourites Barcelona take on Paris St Germain after the first leg in France ended in a 2-2 draw.

The semi-final draw is on Friday. Wembley will host the final for a record seventh time on May 25.

Quarter-finals (second legs)

Played yesterday
Borussia Dortmund vs Malaga - 3-2 (B. Dortmund through 3-2 on aggregate)
Galatasaray vs Real Madrid - 3-2 (Real Madrid through 5-3 on aggregate)

Playing today
Barcelona vs Paris SG (first leg: 2-2)
Juventus vs B. Munich (first leg: 0-2)

Note: Semi-finals draw on Friday.