Alvaro Morata levelled for Chelsea from an Eden Hazard cross before the hour mark after Antoine Griezmann had given Atletico Madrid the lead through a 40th-minute penalty.
Michy Batshuayi replaced Morata with eight minutes remaining and scored the winner with the last kick of the game.
Hazard has hailed Morata and Batshuayi after their performance against Atletico Madrid and believes they both deserved to score.
“That’s why they’re on the pitch, to try to score goals. And we are here to create something,” Hazard told Chelsea TV.
“I’m just happy for them, for Alvaro, for Michy. They’re top strikers. Both of them deserve to score goals and they did.
“We should’ve scored more goals than two. Sometimes it’s good to win at the last second.”