Andre Schurrle scored a 87th-minute equaliser as Borussia Dortmund twice came from behind to draw 2-2 with the holders Real Madrid in Tuesday night's Champions League Group F clash at the Westfalenstadion.

Pierre-Emerick Aubameyang cancelled out a Cristiano Ronaldo opener to leave the two teams level at the break, before Raphael Varane converted in the 68th minute to send Real Madrid ahead once again.

There was to be late drama in Germany, however, as Schurrle came off the bench to find the top corner as the two teams moved onto four points in the section.

Dortmund boss Thomas Tuchel made just one change to the team that started their 3-1 win over Freiburg in the Bundesliga at the weekend, and it came in midfield as Raphael Guerreiro replaced Emre Mor in a wide position.

Mario Gotze kept his spot in an attacking midfield role, while it was reported Real Madrid target Aubameyang that led the line with support from exciting youngster Ousmane Dembele.

As for Real Madrid, Keylor Navas replaced Kiko Casilla between the sticks for the Costa Rican's first appearance of the season. There was also an interesting selection at left-back as Danilo started in place of the injured Marcelo.

Further forward, Casemiro's absence opened up a spot in the XI for James Rodriguez, who was chosen ahead of Isco and Mateo Kovacic. Meanwhile, Ronaldo, Gareth Bale and Karim Benzema started as the front three, meaning that Alvaro Morata, despite his impressive form this season, was only on the bench.

Both teams had almost identical free kicks - 30 yards from goal - inside the opening four minutes, but Ronaldo's effort was kept out by Roman Burki, before Navas saved Gonzalo Castro's dipping strike down the other end of the field.

There was hardly time to take a breath inside the opening 10 minutes as Dortmund put the pressure on, and Navas had to be on his toes to keep out a low strike from Dembele, moments after Ronaldo escaped a clear handball just outside his own box, which led to Tuchel having an animated discussion with the fourth official.

Down the other end, Real Madrid had a chance to register after Ronaldo slid a pass in to Benzema, but the Frenchman lost his footing at the vital moment. The visitors did make the breakthrough in the 17th minute, however, when Ronaldo smashed the ball home from close range after a back-heel from Bale had fallen for the Portuguese.

Dortmund were still full of confidence though and almost equalised in the 25th minute when Dembele cut inside Danilo before firing one towards the top corner, but Sergio Ramos was on hand to make a last-ditch block.

Sokratis Papastathopoulos was next to come close for Dortmund 10 minutes before the interval after meeting a dangerous corner from the right, but Navas made the save as Real Madrid kept their one-goal lead intact.

Navas went from hero to zero in the final stages of the first period, however, as the Costa Rican decided to punch a weak free kick from Guerreiro and the ball hit his own defender Varane before bouncing into the away side's net, courtesy of a late touch from Aubameyang, who was quick to claim the goal.

Dortmund twice came close to taking the lead early in the second period, but Dembele fired over the crossbar from close range before Navas pushed a curling drive from Aubameyang out of the danger zone.

It was Tuchel that blinked first in terms of a substitution, with Schurrle taking the place of Gotze as the home side looked to make use of their territorial advantage, which continued to grow as the match approached the 60-minute mark.

Real Madrid came close to scoring a second in the 61st minute when Ramos delivered a cross onto the head of Ronaldo, but his effort was just wide of the post, before Benzema failed to convert a cross from Bale.

Bale had a chance of his own 20 minutes from time after meeting a corner from Toni Kroos, but the Welshman headed over from close range. The visitors continued to press though and regained the lead in the 68th minute when Varane tapped home from close range after Benzema's strike had hit the woodwork.

Dortmund responded with a spell of pressure that brought chances for Guerreiro and Schurrle, but Navas was on hand to make two brilliant saves as it remained 2-1 Real Madrid entering the final 10 minutes of action in Dortmund.

Christian Pulisic brought a save from Navas in the 83rd minute as the pressure continued, before fellow substitute Mor also came close for the home side.

It was Schurrle that secured a share of the spoils in the 87th minute, however, when the German international found the top corner with a strike from inside the box.