Real Madrid came from behind to record a 3-1 victory over rivals Atletico Madrid and progress to the semi-finals of the Copa del Rey on Thursday night.

Alvaro Morata sent Diego Simeone's side into a 19th minute lead in the Madrid derby, but Rodrygo levelled the scores in the 79th minute before Karim Benzema and Vinicius Junior scored in extra-time for the reigning Spanish and European champions.

Carlo Ancelotti's side have joined Barcelona, Osasuna and Athletic Bilbao in the semi-finals of the competition.

Real Madrid had an opportunity to make the breakthrough in the ninth minute when Vinicius combined with Benzema before lining up a shot, but Reinildo was across to make a brilliant tackle.

Atletico made the breakthrough in the 19th minute of the contest, and it was an excellent team goal from the visitors, with Morata converting a low cross from Nahuel Molina.

Eder Militao should have levelled for Real Madrid in the 31st minute when he met a free kick from Toni Kroos, but the centre-back planted his header wide of the target.

Los Blancos had to wait until the 58th minute for their next opportunity, with Benzema looking to pick out the bottom corner from the edge of the box, only to be denied by Atletico goalkeeper Jan Oblak.

Antoine Griezmann came close to picking out the back of the net with a free kick in the 73rd minute, but Thibaut Courtois was across his goal to make an excellent save.

Real Madrid finally levelled the scores in the 79th minute, with Rodrygo collecting a pass from Luka Modric before impressively dancing past four Atletico players and poking the ball into the back of the net.

Griezmann had a brilliant chance to win it for Atletico late on, but the France international failed to hit the target from 12 yards out, which led to extra-time in the Madrid derby.

Atletico were reduced to 10 men in the 99th minute when Stefan Savic picked up a second yellow card for a rash challenge on Eduardo Camavinga, before Antonio Rudiger headed wide of the away side's goal after meeting a chipped cross from Vinicius.

Real Madrid did take the lead in the 104th minute, though, with Benzema finding the bottom corner at the far post after Vinicius had miskicked a cross from Marco Asensio.

A brilliant tackle from Reinildo prevented Benzema from having the chance to score again for Real Madrid in the 119th minute of action.

However, Ancelotti's team did score a third in the final minute through Vinicius, who worked his way into the Atletico box before carefully picking out the bottom corner to secure Real Madrid's spot in the final four.

Next up for Los Blancos is a home game against Real Sociedad in La Liga on Sunday night, while Atletico will take on Osasuna in Spain's top flight earlier in the day.