Liverpool were left to rue a host of missed chances as Real Madrid held out for a 0-0 draw at Anfield to progress to the semi-finals of the Champions League 3-1 on aggregate. 

Mohamed Salah and Georginio Wijnaldum were guilty of wasting glorious opportunities to get Jurgen Klopp's men back into the tie as they failed to replicate a remarkable recovery from 3-0 down to beat Barcelona 4-3 on aggregate at the semi-final stage two years ago. 

Madrid were far from their best, but did not need to be to set up a semi-final clash with Chelsea as Los Blancos extended their unbeaten run in all competitions to 14 games. 

Sadio Mane knocked Ozan Kabak's long ball perfectly into the path of Salah, but Liverpool's one consistent performer in the final third this season fired straight at Real's goalkeeper Thibaut Courtois. 

Klopp surprisingly repeated his decision from the first leg to leave Thiago Alcantara on the bench with James Milner this time taking the place of the Spanish international in midfield. 

Milner made his presence felt within a minute with a late lunge on Karim Benzema and nearly inflicted a different type of damage on Madrid 10 minutes in when his long range effort forced Courtois into another fine save. 

Real's fine run has propelled them back into contention to defend their La Liga title and claim a 14th crown as European champions. 

In another game, Manchester City sealed a 2-1 victory at Borussia Dortmund to send the Premier League leaders through 4-2 on aggregate thanks to Phil Foden's second-half winner. The City will set up a blockbuster Champions League semi-final against Paris Saint-Germain. 

England midfielder Jude Bellingham gave Dortmund an early lead, but a second-half Riyad Mahrez penalty and Foden's powerful strike moved City into the last four of Europe's top club competition for the second time. 

"We are finally in the semi-finals and we're really happy," Guardiola told Sky with his team bidding to win four titles this season. 

"The guys deserve it because what they have achieved this season is incredible." 

(With input from agencies)