Liverpool, CSKA Moscow, Qarabag, Sporting CP and APOEL all qualified for the Champions League group stage.
Trent Alexander-Arnold scored as Liverpool earned a fine 2-1 first-leg win at Hoffenheim in Champions League qualifying.
Manchester City and Liverpool have pipped Arsenal to the final top-four spot, bringing Arsene Wenger's proud record to an end.
Juventus secured simple passage to their second Champions League final in three years as a 2-1 win over Monaco secured a 4-1 aggregate win.
Brendan Rodgers was made to field what he described as "the worst question I've ever been asked", involving Lionel Messi and a monster.
Moussa Dembele scored twice as Celtic took the lead three times only to draw 3-3 against Manchester City in the Champions League.
Riyad Mahrez scored two set-piece goals as Leicester City started life in Group G with a comprehensive win in Belgium.
Police officer Lee Casciaro nicked a single-goal advantage for Lincoln Red Imps, spoiling Brendan Rodgers' competitive Celtic bow.
Real Madrid will take on capital rivals Atletico in a repeat of the 2014 Champions League final after beating Manchester City 1-0 at the Santiago Bernabeu.
Saul Niguez scored one of the great Champions League goals to give Atletico Madrid a 1-0 semi-final lead over Bayern Munich after a pulsating first leg at the Vicente Calderon.
Lionel Messi failed to find the net once again on Wednesday as Barcelona crashed out of the Champions League to Atletico Madrid, with the Argentinian's 452-minute goal drought his worst such run since April 2010.
Barcelona's season unravelled further in controversial fashion after the holders were knocked out of the Champions League by Atletico Madrid on Wednesday, with Antoine Griezmann's double securing passage to the semi-finals with 2-0 win at the Vicente Calderon.
Lionel Messi's late brace secured a seemingly decisive first-leg advantage for Barcelona as the defending champions beat Arsenal 2-0 in an absorbing Champions League last-16 clash.
The decision not to give Chelsea a penalty against Dynamo Kiev was similar to recent controversy at Rugby World Cup, says Jose Mourinho.
Olivier Giroud capitalised on a Manuel Neuer error and Mesut Ozil capped a 2-0 Champions League win for Arsenal over Bayern Munich.
Olivier Giroud's red card added to Arsenal's disappointment as they fell to a 2-1 defeat against Dinamo Zagreb in Champions League Group F.
Jose Mourinho's Chelsea side began their Champions League campaign with an easy 4-0 win over Maccabi Tel Aviv.