Holders Liverpool began their defense of the Champions League trophy with a defeat against Napoli on Tuesday, while one missed spot-kick condemned Chelsea to defeat against Valencia and another came to Barcelona's rescue.

Liverpool survived a 1-0 defeat in Naples in the group stage last season to go on and win their sixth European Cup, and this time a 2-0 reverse at the San Paolo made them the first reigning champions to lose their opening game in the competition since 1994.

Both sides had chances in the Group E clash before the hosts won a late penalty with barely 10 minutes remaining when Jose Callejon went down under an Andy Robertson challenge.

Dries Mertens beat Adrian from 12 yards and substitute Fernando Llorente – who played for Tottenham Hotspur against Liverpool in last season's final – then took advantage of a rare defensive lapse by Virgil van Dijk to make it 2-0 in stoppage time.

"I don't think it's a penalty. What can I say, for me, it is clear and obvious no penalty," Liverpool boss Jurgen Klopp said of the spot-kick to BT Sport. "We played a lot of good football but didn't finish it off."

Hat-trick hero Haaland

Liverpool must now bounce back in two weeks when they host Austrian champions Salzburg, who made a stunning return to the group stage as teenage forward Erling Braut Haaland netted a hat-trick in a 6-2 demolition of Genk.

Salzburg had fallen in the qualifying rounds in the last seven campaigns but finally progressed this season to the group stage for the first time since 1994-95.

Haaland, the teenage English-born Norwegian striker whose father Alf-Inge played for Manchester City, gave Salzburg a second-minute lead and netted twice more before half-time.

Aged just 19 years and 58 days, Haaland is the third-youngest player to score a Champions League hat-trick behind Wayne Rooney and Raul, according to sports statisticians Opta.

Last season's Europa League winners Chelsea ensured it was two defeats out of two on the night for English sides as they lost 1-0 at home to Valencia.

Heroic Ter Stegen

Barcelona coach Ernesto Valverde said his team had goalkeeper Marc-Andre ter Stegen to thank after they escaped with a 0-0 draw at Borussia Dortmund in their Champions League opener on Tuesday.

"The team overcame a bad moment today, mainly thanks to Ter Stegen," said Valverde after watching his side survive a second-half onslaught from Dortmund.

In a game in which Lionel Messi made his return from injury, it was Ter Stegen who shone for Barcelona. The German 'keeper saved a penalty from Dortmund captain Marco Reus and repeatedly frustrated the hosts as his own side struggled.

"It was a difficult game today and I think the result is fair considering what happened," Ter Stegen told Sky, and commiserated with Germany teammate Reus.

"Marco played really well today, and really hurt us," said Ter Stegen.

Dortmund and their captain, however, were left to rue several missed chances.

Ajax impress

Also in Group H, last season's semi-finalists Ajax claimed an impressive 3-0 home win over Lille with two of their newest signings among the goals.

Quincy Promes headed the Dutch champions in front and the Mexican Edson Alvarez doubled their lead early in the second half before Nicolas Tagliafico sealed the win.

After a patchy start to the season, Barcelona will be relieved to escape from their trip to Borussia Dortmund with a 0-0 draw as Lionel Messi returned from injury as a second-half substitute.

The home side will feel they should have won, but Marco Reus had a second-half penalty saved before Julian Brandt hit the bar late on.

"We played brilliantly in the second half, and it feels a bit like we have lost two points," Dortmund defender Mats Hummels told Sky.

Those two appear well placed already to progress from Group F after Inter Milan needed a stoppage-time Nicolo Barella goal to rescue a 1-1 draw against rank outsiders Slavia Prague.

Nigerian forward Peter Olayinka put Slavia ahead in the 63rd minute, only for Barella to level in the second minute of stoppage time after a Stefano Sensi free-kick hit the bar.

In Group G, RB Leipzig won 2-1 at Benfica with Timo Werner bagging a brace before Haris Seferovic pulled one back.

Earlier, Memphis Depay's penalty gave Lyon a 1-1 draw at home to Zenit Saint-Petersburg after Iranian striker Sardar Azmoun opened the scoring.

(With input from AFP)