Erling Haaland celebrates after scoring the opening goal during the UEFA Champions League quarter-final. AFP

Manchester City will face Real Madrid in the Champions League semi-finals for the second straight year after an Erling Haaland goal secured a 1-1 draw and a 4-1 aggregate last-eight win over Bayern Munich on Wednesday.

The Norwegian missed a first-half penalty but muscled his way upfield midway through the second half, lashing past Bayern goalkeeper Yann Sommer for his 48th goal in 41 appearances this season.

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Bayern had a second half goal struck off for offside and scored a late penalty through Joshua Kimmich but were again haunted by their inability to make possession and chances count on the scoreboard.

City will play in the semis for the third straight year but face manager Pep Guardiola's old foe Real, who scored two injury time goals to spectacularly turn the tie their way on the way to winning the title last season.

Manchester City's Norwegian striker Erling Haaland (right) scores the opening goal. AFP

In the former encounter, Pep Guardiola’s side drew 1-1 on the night to add to our 3-0 win in the first leg at the Etihad Stadium eight days earlier.

Erling Haaland missed a first-half penalty but scored a brilliant 57th-minute strike to dent Bayern’s hopes of a turnaround.

Joshua Kimmich scored a late equaliser from the penalty spot but City moved into the Champions League semi-finals for a third successive year and set up a last-four clash with Real Madrid in May.

In Italy, Inter led 2-0 from the first leg and extended that lead inside quarter of an hour thanks to a fine strike from Barella, who drove forward, exchanged passes with Martínez and then curled in with his weaker left-foot.

Martínez had a goal disallowed as Inter looked to hammer home their advantage, but Benfica drew level on the night when Fredrik Aursnes rose superbly to head home Rafa Silva's right-wing cross.

David Neres was introduced at the break by the visitors and they started the second half brightly, but just before the midway point of the half, the home side got the crucial third goal on the night when Martínez blasted in Federico Dimarco's low pass across the box.