Real Madrid will take on holders Bayern Munich in the last four to contest the other final spot.
Chelsea secured their place in the semis after the dramatic away-goals success over Paris Saint-Germain on Tuesday.
Holders Bayern Munich beat Manchester United 4-2 on aggregate after the sides played out a 1-1 draw in the first leg at Old Trafford.
Real Madrid held off a fightback from Borussia Dortmund to go through 3-2 on aggregate, and Koke’s early goal sealed a 2-1 aggregate win for Atletico Madrid over Spanish rivals Barcelona.
The semi-finals will be played on a home-and-away basis, with the first legs played on Tuesday 22 and Wednesday 23 April and the return legs the following week, on Tuesday 29 and Wednesday 30 April.
Real Madrid v Bayern Munich
Atletico Madrid v Chelsea
Sevilla v Valencia
Benfica v Juventus
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