However, the thrilling clash was overshadowed by the officials as Bayern midfielder Vidal was shown a second yellow card for what appeared to be a legitimate challenge with the German visitors leading 2-1 on the night as extra time loomed.
Ronaldo's hat-trick was more than enough to secure Real a spot in the semi-final, yet Asensio wrapped the victory up in a ribbon with his own last-minute goal bringing the score to a 6-3 on aggregate.
Real Madrid hosted Bayern Munich at the Bernabeu tonight, and came into the game holding a 2-1 advantage from the first leg.
The extra man proved decisive as Madrid settled the tie with a 3-goal burst either side of half time in extra time.
"The (red) card for Arturo wasn't a card and then the two goals from Cristiano are offside so clearly we are not happy". "In the end, over the two legs, we deserved to go through".
"In the key moments Ronaldo is always there", said Zidane after the game.
21st Century Fox investigating O'Reilly harassment claims
When Zimmerman tells O'Reilly that Rice said she didn't leak the names, O'Reilly continues looking for a different answer. O'Reilly said that he was targeted with allegations and lawsuits because of his celebrity.
The talisman's hat-trick meant he became the first player to score 100 Champions League goals.
"We're very angry, a game with that much intensity can't be decided by the referee".
"The important thing was to go through and I was lucky to play from the start". The Spanish defender was making his 100th Champions League appearance.
Ronaldo scored his first goal of the night with a header in the 76th minute after a well-placed cross by Casemiro from the right flank.
There was no penalty for Bayern's first goal. In trying to snuff out Lewandowski after substitute Thomas Müller had helped the ball along, the ball bounced off the Real Madrid captain and creeped into his own net.
Five minutes later, and Ronaldo had completed his treble when receiving a ball from Marcelo after the left-back made a dazzling run through the Bayern defence.