Cristiano Ronaldo fell to his knees at the final whistle and looked to the sky as Manchester United's fans sang his name.
Champions League: Barcelona Thumped And Chelsea Beaten As Cristiano Ronaldo Rescues Manchester United
Barcelona plunged even further into crisis on Wednesday with a thumping Champions League defeat at Benfica while holders Chelsea were beaten by Juventus but Cristiano Ronaldo grabbed a precious last-gasp winner for Manchester United
Substitute Pierre-Emile Hojbjerg's equaliser allowed Tottenham Hotspur to come away with a 2-2 draw from their trip to France to play Rennes in the new Europa Conference League on Thursday.
As Milan failed to clear the ball from a corner, Henderson sweetly struck a half-volley from just outside the area that rocketed into the bottom left corner of the net in the 69th minute to help Liverpool seal a come-from-behind 3-2 win against the Rossoneri on their return to Champions League football.
Chelsea claimed their second UEFA Champions League title at the expense of Manchester City.
Barcelona are champions for the first time after the end of Lyon's five-year reign.
UEFA Champions League, Semi Final, Second Leg match Stamford Bridge - Chelsea win 3-1 on aggregate
Manchester City came from behind to beat Paris Saint-Germain 2-1.
How to watch UEFA Champions League Semi Final of PSG vs Manchester City in India.
Chelsea aims returning to winning ways after their humbling defeat to West Bromwich Albion.