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MILAN -- The most successful team in the history of the Champions League has done it in dramatic fashion, and yet again it came at the expense of their city rivals. Real Madrid was crowned king of the Champions League on Saturday with an emotional, hard-fought 2-1 win over Atletico Madrid at the San Siro.

After the match finished 1-1 after 120 minutes, the final came down to the most heart-wrenching resolution in all of sports -- penalty kicks. The white shirts won 5-3 in the shootout as Cristiano Ronaldo bagged the winner before ripping his jersey off and celebrating with the fans. This is Real Madrid's 11th title, more than any other club. Atleti has yet to win the UCL, losing in the final three times, including against Real Madrid three years ago.

A sublime penalty shootout captivated fans at the San Siro, with a near-perfect display. Both sides were perfect through three kicks, but it was Juanfran who missed Atleti's fourth kick, rocketing a shot off the lower left post, leaving the chance for CR7, who made no mistake.

Ronaldo rips his shirt off to celebrate yet another title for Real Madrid. Getty Images

The win completes an emotional and astonishing season after Real fired manager Rafa Benitez earlier in the season, replacing him with club legend Zinedine Zidane. The rookie manager worked his magic all the way to the summit of Europe, something that looked improbable just months ago.

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Real was the sharper team early but both teams failed to create enough quality chances. The team in white didn't need many chances early on, though, as Sergio Ramos finished from close on a Gareth Bale flick on 15 minutes. It was the second time Ramos has scored on Atleti in the final, doing it in stoppage time three years ago to spark a stunning Real comeback. The goal came with some controversy, as Ramos appeared to be a hair offside after Bale's flick. It's worth noting that he did have his shirt pulled on that play. Have a look.

Here's a screenshot of the questionable play. You make the call.

The first half ended with Atleti showing more quality but failing to break down a focused and ambitious Real backline. In the second half, Atleti was superior and kept knocking on the door, but frustration and nerves set in as nothing was doing. Then, it all changed. After Bale wasted a golden chance in the box, Atleti went on attack, getting the goal with just over 10 minutes to go, as Yannick Carrasco finished in front of goal with a touch to send the ball high into the net.

After scoring, he ran into the stands and kissed his significant other, who happened to be 2013 Miss Belgium winner Noemie Happart.

After a scoreless extra time that saw several players from both sides cramp up, the 2016 Champions League final went to penalty kicks. Here's the game-winner from Cristiano Ronaldo:

And the scene from the stands in Milan:

The Undecima belongs to Real Madrid.

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