Juventus produced a stunning late rally to snatch a 4-4 draw against Borussia Dortmund in an exciting Champions League opener at the Allianz Stadium on Tuesday night.

Igor Tudor’s side looked dead and buried when Ramy Bensebaini converted from the penalty spot in the 86th minute to give Dortmund a 4-2 lead.

But Dusan Vlahovic struck in the fourth minute of stoppage time before Lloyd Kelly completed the comeback seconds later, heading home from Vlahovic’s cross to send the home crowd into raptures.

The dramatic result echoed Juventus’ late heroics at the weekend when they struck late to beat Inter Milan, underlining their resilience under Tudor.

The match had been cagey until Karim Adeyemi fired Dortmund ahead after the break from Serhou Guirassy’s pass. Juve responded through 18-year-old Kenan Yildiz, who curled in a superb equaliser reminiscent of Alessandro Del Piero.

The game then exploded into a goal frenzy: Felix Nmecha restored Dortmund’s lead with a thunderous strike, before Vlahovic levelled with his third goal of the season. Yan Couto put the visitors ahead again after Michele Di Gregorio spilled his shot, and Bensebaini’s late penalty seemed to have sealed the win.

But Juventus refused to quit. Vlahovic, heavily linked with a summer exit, delivered both a lifeline and the inspiration with a late goal and assist, while Kelly’s last-gasp header capped one of the most remarkable finishes the Allianz Stadium has witnessed.

The result leaves both sides with work to do in the group phase but ensures Juventus remain unbeaten in Europe this season, while Dortmund will rue letting victory slip from their grasp.