With the match heading into extra time following Juventus’ stunning fightback to level the tie at 3-3 on aggregate, Benatia was adjudged to have fouled Vazquez in the box by Premier League referee Michael Oliver.
The Juventus players fumed at the decision with Gianluigi Buffon leading the protestations and eventually being sent off.
Cristiano Ronaldo then scored emphatically from the spot to take Real Madrid into the semi-finals.
But speaking after the match, Benatia fumed at the decision and attacked Vazquez for going down easily.
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Medhi Benatia fouls Lucas Vazquez in the penalty area
I went around Vazquez and got the ball. He just went down because he had nothing else to do at that point
Medhi Benatia
"We are sad, because we played the game we wanted to and last year the same thing happened to Bayern Munich," Benatia told Mediaset Premium.
"Real Madrid are a great side, but every time there is a challenge, they get the decision and Cristiano Ronaldo scores.
"I went around Vazquez and got the ball. He just went down because he had nothing else to do at that point.
“You can see the ball bounce off my foot and change direction. Going out to a penalty like that is absurd.
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Cristiano Ronaldo celebrates his penalty
"We are the victims of this situation, but we're very proud of what we did tonight."
Benatia then fumed about Oliver’s decision to send off Buffon.
He added: "The referee needs to explain the rules, because if the captain can't even talk to the referee after a penalty is awarded, then who can?"
