In the last minute of regulation, Argentine Sergio Aguero broke the 3-3 tie when he beat Barcelona defender Carles Puyol and finished off a wonderful goal with a shot past goalie Victor Valdes into the bottom corner. The goal was the second of the game for Aguero. Diego Forlan also had two goals for Atletico, which trailed 2-0 and 3-2 before winning.
Thierry Henry had two goals for Barca was ruled to have fouled fellow Frenchman Florent Sinama Pongolle on for the penalty kick that Forlan converted to make the score 3-3 in the 80th minute.
"We'll pick ourselves up, try to correct what is going wrong and carry on working," Barca coach Pep Guardiola said. "I have a great deal of faith in my players."
Meanwhile, surging Real's 2-0 win at Espanyol on Saturday was its 10th straight victory.
Two years ago, Barcelona gifted Real La Liga title in David Beckham's last season in Madrid.