Oleksandr Zubkov headed the Ukrainians, beaten 2-1 by Real in Spain last week, in front at the start of the second half.
That had looked to be enough for a hard-earned victory, but former Chelsea defender Rudiger headed in a dramatic equaliser in the fifth minute of added time.
Real Madrid sit top of the table, now four points ahead of RB Leipzig, who won 2-0 at Celtic.
Juventus crashed to their third group defeat as they lost 2-0 away to Maccabi Haifa, who secured their first win.
Omer Atzili headed Haifa into an early lead and doubled the lead shortly before the break as Juve were dealt another setback following Saturday's Serie A defeat to AC Milan.
巴黎圣日耳曼队和本菲卡队在法国首都1-1战平后,仍在H组榜首。
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Kylian Mbappe converted a penalty late in the first half to give PSG - without Lionel Messi because of injury - the lead, but Joao Mario equalised from the spot just after the hour.
Dinamo Zagreb and RB Salzburg drew 1-1 at the Maksimir Stadium in Group E.
Nicolas Seiwald gave Salzburg an early lead before the Croatians equalised through Robert Ljubicic's deflected effort.
切尔西在以2:0战胜AC米兰的比赛中位居E组榜首,AC米兰在这场比赛中大部分时间都是由10人组成的。
Borussia Dortmund fought back to draw 1-1 against Sevilla at Signal Iduna Park.
Tanguy Nianzou headed Sevilla in front following a free-kick on 18 minutes, but England midfielder Jude Bellingham bundled in an equaliser before the break.
多特蒙德排名第二,领先塞维利亚和哥本哈根五分。尽管在丹麦0-0战平,曼城还是成为第一支晋级16强的球队。
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