The German club won the second leg of their quarter-final tie 3-2 at home to reach the last four of the competition by the same aggregate scoreline, thanks to Felipe Santana's injury-time goal.

Malaga broke the deadlock at Signal-Iduna Park on 25 minutes, Isco and Julio Baptista combining to set up Joaquin, who fired home from the edge of the Dortmund box.

Malaga players celebrate after Joaquin's goal in the Champions League match against Borussia Dortmund on April 9, 2013 © PA Photos

Jurgen Klopp's side did not panic and restored parity six minutes before the interval through Robert Lewandowski. Lukasz Piszczek and Mario Gotze linked up with each other to release Marco Reus, who flicked the ball with his heel to the Polish striker to tap home from close range.

Last season's German champions came out in force in the second half, Lewandowski forcing Wilfredo Caballero into a save immediately after the restart.

Two minutes later Roman Weidenfeller kept out a close-range header from Joaquin with a good save, before Gotze shot wide for Dortmund from a narrow angle.

Lewandowski thought that he had scored his and Dortmund's second goal of the evening midway through the second half, but his effort was ruled out as Reus was in an offside position during the buildup.

Then moments later Jeremy Toulalan tested Weidenfeller with an audacious attempt from 30 yards, before Eliseu scored in the 82nd minute to put Malaga 2-1 up in the tie.

Malaga's Eliseu celebrates scoring against Borussia Dortmund in the Champions League clash on April 9, 2013 © AP Photos

Dortmund pressed on and got their equaliser in the first minute of injury time through Reus, who slotted home after some good work from Neven Subotic.

Then two minutes later Santana tapped in from close range to seal a dramatic 3-2 win for the German club and a place in the semi-finals.