Steven Gerrard drove home a controversial penalty four minutes into injury time to salvage a dramatic Champions League point for Liverpool.

Atletico will believe they were robbed of a place in the last 16 by referee Martin Hansson’s hotly disputed penalty award for a debatable foul on Gerrard by Mariano Pernia.

They had led from the 37th minute following a cleverly constructed Maxi Rodriguez goal and frustrated Liverpool at every turn.

But Gerrard never gave up and his penalty eventually spared Liverpool’s blushes and both sides should advance to the last 16.

Fernando Torres failed to even make the bench, missing his sixth match since picking up a hamstring injury while on international duty last month.

He cut a disconsolate figure in the directors’ box having also missed the chance to play at his former club a fortnight ago.

From that match Liverpool left out Andrea Dossena and Yossi Benayoun, bringing in Fabio Aurelio and Dirk Kuyt, while Luis Garcia and Florent Sinama-Pongolle were also left on the bench by Atletico boss Javier Aguirre.

Liverpool started with pace and desire and could have scored in the first minute when Kuyt’s close-range effort was grabbed by Leo Franco.

Another chance went begging when Xabi Alonso’s stunning 40-yard pass found Robbie Keane arriving at pace on the edge of the box, but the Irishman’s fierce drive thudded into the side netting.

Madrid were not slow to hit back and should have scored four minutes later. Pernia got to the byline and pulled back a cross but Simao hooked it over the bar from six yards.