Sergio Ramos put Real Madrid forward with a goal in the 15th minute of the Champions League final, Europe's biggest annual club final, played at San Siro Stadium in Milan, Italy.
Minutes after the second half started, Real Madrid's Pepe was penalized for a foul on Atletico Madrid's Torres, but Antoine Greizman missed the penalty in the 48th minute.
Yannick Carrosco scored the equalizer goal in the 79th minute to send the match to extra time, which ended without goals.
The 2016 UEFA Champions Legue was decided by penalty shoot-outs, with Real Madrid lifting the cup after beating Atletico Madrid 5-3 in penalties.
Juanfran missed the penalty for Atletico Madrid, with Ronaldo scoring the last and winning penalty shot.
The Champions League title remains in Spain for the third year in row, after Real Madrid won the title in 2014 and Barcelona in 2015.
This was the second time the two teams from Spain's capital Madrid have faced off in a Champions League final.
The first time was just two years ago. Atlético held the lead at 1-0 for nearly 93 minutes, but with only two minutes remaining, Real scored and forced the game into extra time.
In extra time, Real scored three goals and won their 10th Champions title, 4-1.
Real Madrid now holds a record of 11 Champions League titles, followed by Milan with seven.
