The first ever European fixture at the Wanda Metropolitano saw the home crowd disappointed as Michy Batshuayi gave Chelsea a 2-1 win with the last kick of the game.
Chelsea started the game off brightly, with Eden Hazard and Álvaro Morata linking up nicely and causing nightmares for the Atlético defence.
In the 13th minute, Hazard came close to opening the scoring as his deflected strike clattered the post.
The Blues continued to persistently surge forward, but the home side held firm.
39 minutes into the game, a moment of madness from David Luiz wasted all of Chelsea’s good work.
The Brazilian was penalised and yellow carded for pulling Lucas Hernández in the box after losing him while attempting to mark him as a corner came in. Unsurprisingly, Antoine Griezmann stepped up and dispatched the spot-kick.
Atlético almost doubled their lead in stoppage time at the end of the first half as Saúl Ñíguez fired wide off the rebound from a Koke effort.
Although they couldn’t capitalise on that chance, Diego Simeone’s side went into the break with a 1-0 advantage — albeit one earned totally against the run of play.
In the 47th minute, Thomas Partey was booked for going through the back of Morata.
He was followed into the book seven minutes later by Griezmann, who caught Hazard late.
59 minutes into the game, Chelsea finally found the final product they had been craving. Hazard floated a cross in from the left and Morata headed it home.
Fernando Torres, a Champions League winner with Chelsea in 2012, drew a massive cheer when he came on in the 69th minute for Yannick Carrasco.
As the clock ticked down to five minutes before the end of the game, Torres claimed to have been fouled by Tiemoue Bakayoko in the penalty area. However, referee Cüneyt Çakır was unmoved.
Atlético dominated the last few minutes of the game, but right at the death, the Wanda Metropolitano was stunned as Marcos Alonso put a ball into their box from the right and Batshuayi stroked home the winner.
Chelsea are in a comfortable position now, having amassed six points from two games. Atlético, meanwhile, sit third in the group behind the Blues and Roma with just one.