Iker Casillas hugs Sergio Ramos after the latter scored the equaliser for Real in the stoppage time.
Atletico seized the lead behind a header from Diego Godin in the 36th minute.
Gareth Bale headed in from an acute angle after goalkeeper Thibaut Courtois blocked Angel Di Maria's shot with 11 minutes left.
Atletico Madrid lost Diego Costa to a hamstring injury after only nine minutes.
Real Madrid fans celebrate after final whistle was blown at the Estádio da Luz stadium in Lisbon.
Cristiano Ronaldo celebrates after scoring Real Madrid's fourth goal from the penalty spot after he was fouled by Gabi.
Substitute Marcelo made it 3-1 with a left-foot drive at the 118th minute.
Real Madrid won their record 10th European Cup as they overwhelmed arch-rivals Atletico Madrid 4-1 in a dramatic Champions League final.
Iker Casillas was at fault for Diego Godín's 36th-minute goal.
Sergio Ramos headed in an equaliser for Real Madrid in the third minute of stoppage time.
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