Zinedine Zidane's side could become the first club to retain the trophy in the Champions League era in the final on 3 June in Cardiff.
French side Monaco take on Italian club Juventus in the other last-four tie.
The first legs will be played on 2 and 3 May, with the return legs taking place the following week.
Real, aiming to win Europe's premier club competition for a 12th time, beat German champions Bayern Munich 6-3 on aggregate to reach the last four.
Atletico, meanwhile, ended Premier League champions Leicester's fairytale run in Europe, edging the Foxes 2-1 over two legs.
Juventus claimed an impressive 3-0 aggregate win over Barcelona while Monaco defeated Borussia Dortmund 6-3.
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