Here's the complete set of highlights from Thursday's Champions League games...

Red Star Belgrade 1-2 Benfica:

Feyenoord 0-4 Bayer Leverkusen:

Atalanta 0-0 Arsenal:

Monaco 2-1 Barcelona:

Brest 2-1 Sturm Graz:

Atletico Madrid 2-1 RB Leipzig:

BBC Two

You can watch all the highlights and analysis from tonight's Champions League matches on BBC Two from 23:05 BST, with the programme going on until 00:15 BST.

Press the 'watch now' tab at the top of this page.

Emlyn Begley
BBC Sport

David Raya made an unbelievable double save from a penalty as Arsenal drew at Italian side Atalanta in their Champions League opener.

The Spaniard got down low to his right to keep out Mateo Retegui's spot-kick and somehow got across his goal to scoop the striker's follow-up header off the line.

That was the one real moment of drama and quality in an otherwise forgettable match in Bergamo.

Read more from Emlyn's match report here.

Marissa Thomas
BBC Sport

Nigerian striker George Ilenikhena scored on his Champions League debut as Monaco produced an upset against 10-man Barcelona.

The 18-year-old substitute raced on to Vanderson's long ball over the top of the defence in the 71st minute and blasted his shot past Marc-Andre ter Stegen.

Eric Garcia had earlier been shown a straight red card with just 10 minutes gone when he fouled Takumi Minamino as the last man after a poor pass out from the back by Ter Stegen.

Read more of Marissa's match report here.

French side Brest won the first Champions League match in their history against Sturm Graz with goals from Hugo Magnetti and Abdallah Sima.

Magnetti chested the ball down and crashed a shot into the bottom corner on the half-volley to open the scoring for the home side midway through the first half.

Edimilson Fernandes turned into his own net to provide the equaliser for the Austrian visitors on the stroke of half-time.

William Boving drove into the penalty area and cut the ball back. It hit Fernandes on the chest and he was unable to prevent an unfortunate own goal.

But Sima scored his first goal for Brest on 56 minutes, holding off defender Emanuel Aiwu and swivelling to his right before finishing with his left foot as the Ligue 1 side marked their historic night with a victory.

Read more on the match report here.

Conor Gallagher came on as a substitute as Atletico Madrid scored a 90th-minute winner against RB Leipzig in their Champions League opener.

Benjamin Sesko headed the German visitors into a fourth-minute lead, before Antoine Griezmann equalised after 28 minutes with his 37th goal in the competition.

France World Cup winner Griezmann scored from 12 yards with a volleyed effort and was denied a second goal by a fine save from RB Leipzig keeper Peter Gulacsi.

It was Griezmann who set up the dramatic late winner as his cross picked out Jose Maria Gimenez for a downward header into the net.

Click here to read more of the match report.

Arsenal

Arsenal midfielder Declan Rice speaking to TNT Sports: "We want to win every game, that is the ambition of the players, the manager and the club, but we have a tough group and a point to start is OK.

"We have PSG next at home which will be a great game, but we know in this format that you have to win. We'll take each game at a time.

"We turn back to the Premier League now but the Champions League is what we want to set our sights on because we know we have the players to do it.

"We are all gutted in there - it is a clean sheet but we want to win."

Rio Ferdinand
Former Man Utd defender on TNT Sports

Arsenal are resolute now. They are a team that are hard to play against, home or away, and that is not what you want as an opposition player.

They are a team that other teams are looking at and thinking, 'I'd rather give that one a miss.'

Benfica began their Champions League campaign with a 2-1 victory away at Red Star Belgrade.

Turkish forward Kerem Akturkoglu marked his first European appearance for Benfica with a goal, latching on to Alexander Bah's looping cross to finish at the back post.

Orkun Kokcu curled home a brilliant free-kick from 25 yards out with Red Star goalkeeper Omri Glazer rooted to the spot as Bruno Lage's side increased their first-half lead at Stadion Rajko Mitic.

Click here to read more of the match report.

Florian Wirtz scored twice on his Champions League debut as Bayer Leverkusen cruised to victory at Feyenoord.

The German champions took a fifth-minute lead when Wirtz placed the ball into bottom corner from 20 yards.

Xabi Alonso's marauding wing-backs combined for the second goal as Jeremie Frimpong's cross reached Alex Grimaldo to score.

Former Celtic player Frimpong then picked out 21-year-old Germany international Wirtz, who volleyed in his second of the game.

And Leverkusen had the game won before half-time when Edmond Tapsoba's header was knocked into his own net by home goalkeeper Timon Wellenreuther.

Click here to read more on Bayer Leverkusen's win.

Martin Keown
Former Arsenal defender on TNT Sports

From the start David Raya stands tall, doesn't move and then guesses the right way and saves the ball. But the key thing is that he doesn't give up on it and believes in himself.

The goal is gaping and Mateo Retegui should score but take nothing away from how quickly Raya got back up and across to save again. That is four in the last eight penalties he has saved now.

There is an element of luck and chance because you can't know for certain where the ball is going. He parries the ball back into play and should get punished but his reactions were first class.

When Raya took over from Aaron Ramsdale as number one the fans weren't sure. He has that believe about himself and looks like a driving force.

There were a few difficult moments for him but he came through them and now he is a major player for Arsenal.

Arsenal

Arsenal midfielder Declan Rice speaking to TNT Sports about team-mate David Raya:

"He is so level headed that he has not changed one bit [throughout the situation]. When Rammers [Aaron Ramsdale] came out of the team and David was starting he didn't change his mannerisms or the way he was.

"It is massive pressure. He was our number one last season, he is now fully our number one, there is no doubt or questions around that anymore.

"That is three games this season where he has made crucial saves - he is doing everything right and is living away from the game the right way and that is showing on the pitch."

Watch David Raya's post-match interview after his stunning double save earned Arsenal a hard-earned point at Atalanta.

Martin Keown
Former Arsenal defender on TNT Sports

David Raya is the player at Arsenal at the moment that seems to have gone into different gears. To have had the presence of mind before the penalty to stop and go over to the bench, come back and be measured and calm. It was a waiting game with the VAR check.

There were good decisions made throughout the game across the pitch. It was a case of considering the bigger picture the whole time but coming away with the result.

• Only Ansu Fati for Barcelona against Inter Milan in December 2019 (17 years, 40 days) has scored at a younger age in the history of the Champions League than Lamine Yamal (17 years, 68 days).
• Arsenal's Raheem Sterling became the first player in European Cup or Champions League history to play for four different English clubs, having previously played for Liverpool, Manchester City and Chelsea in the competition.
• After coming off the bench during the second half, Conor Gallagher became just the second English player to feature in the Champions League for Atlético Madrid after Kieran Trippier, who made 16 appearances for the club in this competition.
• Brest’s win over Sturm Graz was just the second victory by a team making their debut in major European competition across the last 21 attempts (four draws, 15 losses).

Image source, Getty Images

Arsenal

Arsenal goalkeeper David Raya speaking to TNT Sports: "We know this is a tough place to come, they are a magnificent team and put a lot of pressure on us. We made it very difficult for them as well, they did not create many chances, the penalty and that's it.

"A point away from home in the first game of the Champions League, we could have played better, but I thought we managed the game well. We weren't at our best so if we cannot win the game then let's not lose it."

Arsenal

Arsenal midfielder Declan Rice speaking to TNT Sports: "It is really, really tough to win away in the Champions League. This side were European champions last year and they have had the same manager for nine years now, they play a man-to-man game all over the pitch and it is not easy.

"The main thing tonight is that we defended well, our high press was good, but with the ball we can be 10 or 15 times better.

"We gave the ball away sloppily a few times tonight when we could have hurt them. We took a few more touches instead of playing quick one and two touch all the time."

On the tests in the game: "They follow you all over the pitch and it is hard to adjust and beat them. That is why we were trying to threaten in behind, the centre halves were following us deep so we tried to exploit that. Martinelli had a great chance at the end from that. On the ball we have to be better than what we showed tonight."

Yesterday vs today.

Image source, Getty Images

Image source, Getty Images

Arsenal

Arsenal boss Mikel Arteta, speaking to TNT Sports, about David Raya's double save: "It's probably one of the best saves I have seen in my career. He was unbelievable."

On his team's performance: "As we suspected, it was a tough match. Not the nicest to watch. We started really, really well and we were really commanding the game.

"We gave a lot of ball away and couldn't get any rhythm. There are a lot of positives and there are a lot of things for sure to improve."

Leon Osman
Former Everton and England midfielder on BBC Radio 5 Live

That moment will be what this game is remembered for, the double save from David Raya.

Arsenal have been way below the standard of what's expected.