Real Madrid started their Champions League title defence with a hard-fought 3-1 home win over Stuttgart on Tuesday thanks to late goals by Antonio Rueiger and Endrick, which cancelled out Deniz Undav's equaliser.

Stuttgart were arguably the superior side at a sold-out Santiago Bernabeu stadium, with Madrid goalkeeper Thibaut Courtois making a string of critical saves to deny efforts by the German side.

However, Madrid got the lead in the first minute of the second half in a quick counter-attack when Rodrygo crossed for Kylian Mbappe to strike from close range.

Stuttgart found the equaliser with Undav's header in the 68th minute, but Madrid substitute Luka Modric lifted a corner to meet Rudiger in the six-yard box and he nodded a header past the goalkeeper in the 83rd.

Substitute Endrick slotted home a powerful shot from long range deep into added time.