Blaise Matuidi made it level on aggregate after scoring from just a few inches from the goal line following Keylor Navas' blunder which saw the ball fumble out of his hands and Into the Frenchman's path.
Juve goalkeeper and captain Gianluigi Buffon angrily protested the decision before he was sent off for the first time of his storied career in the Champions League.
Isco had a goal correctly disallowed for offside soon after as Real pushed for a killer fourth goal in the tie, with Buffon blocking well at his near post from Isco soon before Juventus' second.
The penalty, awarded for a foul by Medhi Benatia on Lucas Vazquez, was greeted with howls of protest although it was exactly the sort of decision which Juve's rivals and critics say tend to go the way of the Turin side in Serie A.
"We suffered, but we need to learn from this".
There was little for Cristiano Ronaldo and Real Madrid to celebrate at Wembley.
Ronaldo has scored 21 goals in his last 11 matches in all competitions, and has netted in 11 straight Champions League matches.
"In football, nothing is given away, you have to fight until the end".
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Real coach Zinedine Zidane made two early changes in bringing on wingers Lucas Vazquez and Marco Asensio for Casemiro and Gareth Bale at the start of the second half and said he gave his players a firm message.
" Everyone has their own opinion on whether it was a penalty or not, I'm not going to discuss that, but I'm angry that people are talking of a robbery."
The front page adds that the referee "invented a non-existent penalty to allow Real Madrid to make it to the semi-finals".
Real will now face German champions Bayern Munich in the semis, in a repeat of last year's quarter-final, which Los Blancos won 6-3 on aggregate.
"The pulse increased, but I calmed down, and I knew I'd be decisive", he continued.
"Everyone can decide what they want, if it's a penalty or not".
AS admitted the European champions went from "the panic to the semi-finals", while Marca simply believed: "It was a penalty".