Luka Modric described Real Madrid's 3-2 loss to Chelsea on Tuesday that sent them through the Champions League semi-finals as a "defeat that is very sweet."

An uncharacteristically poor performance that led to a 3-1 loss in the first leg at Stamford Bridge meant Chelsea had the proverbial mountain to climb at the Santiago Bernabeu.

Yet the Blues took a 3-0 lead on Tuesday, putting them up 4-3 on aggregate, before Eduardo Camavinga's substitution for Toni Kroos and Modric's sublime assist for Rodrygo changed the complexion of the game and tie. 

Karim Benzema's goal in extra-time eventually separated the two sides.

The Croatia international said afterwards that, given his familiarity with Chelsea, he knew the return leg was not going to be routine.

He said: "We knew after the first leg that we will have a tough game, because for me, they [Chelsea] are the most difficult team to play against. 

"I watch them a lot because of my friend Mateo [Kovacic] and they are a very tough, physical team, very compact and we knew it was going to be tough.

"In the end, we showed great character, great desire, great togetherness and we managed to turn it around, which is amazing. A defeat that is very sweet."

Tuesday's game resembled the first leg in last year's Champions League semi-final between the two, with Chelsea pressing intensely and piercing through in transition.

Thomas Tuchel's side dictated a very high tempo early, but Madrid were able to feel their way through the game, making sufficient adjustments and gaining momentum late.

Modric added: "Unbelievable to describe this game. We were dead until the goal we scored. 

"Chelsea scored three good goals, maybe the first goal was a bit lucky with the deflection, but I cannot say that we played a bad game."

According to Madrid coach Carlo Ancelotti, his side levelling on aggregate took momentum away from Chelsea, while also saving particular praise for the 36-year-old Ballon d'Or winner.

The Italian said: "The changes were important, in retrospect I must say that with the goal of 3-1, they took a good blow on a psychological level.

"Modric was amazing with that assist, from there we build the second goal and then we managed."