Thomas Mueller's late header put Bayern on the brink of victory on home territory but Didier Drogba levelled things up with a bullet header at the death before coolly converting the decisive spot-kick.
The tournament which gave Chelsea their greatest agony when they lost on penalties to Manchester United four years ago in Moscow has now delivered the greatest glory in their 107-year history.
Juan Mata missed Chelsea's first penalty but David Luiz, Frank Lampard and Ashley Cole were all successful. Philipp Lahm, Mario Gomez and goalkeeper Manuel Neuer were all on target for Bayern.
The momentum shifted decisively when Cech denied Ivica Olic and Bastian Schweinsteiger hit the post to leave Chelsea on the brink and present Drogba with his moment of destiny.
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