PSV lost for the second time at home in the Champions League despite staging a late fightback against Atletico Madrid after going 3-1 down.

Peter Bosz’s side got off to the perfect start in Eindhoven as Couhaib Driouech made a deep run into the penalty area and drew Jan Oblak out of his goal before picking out the onrushing Guus Til, who rolled the ball into the empty net.

Driouech, who scored a double in the 4-1 win at Liverpool, passed up a gilt-edged chance to go two up when he tried to find Til again from the left side of the penalty area rather than shoot with a clear sight at goal.

Instead Atletico struck next when PSV defender Yarek Gasiorowski had the ball snatched off him on the edge of the penalty area and Alexander Sørloth presented Julian Alvarez with a simple chance.

PSV came under increasing pressure as the half-time whistle neared and went behind shortly after the break when former Feyenoord defender David Hancko pounced after Matej Kovar parried Nahuel Molina’s long-range effort.

The visitors kept their foot on the pedal and scored again four minutes later when Sørloth, the former Groningen striker, headed in Pablo Barrios’s well weighted cross.

Ricardo Pepi replaced Til after 73 minutes as Bosz tried to change the shape of the game, but it was the arrival of the Croatian veteran Ivan Perisic for Driouech in the 83rd minute that raised PSV’s attacking threat.

Within two minutes Perisic headed on a corner that Pepi stretched to poke home at the far post to set up a grandstand finish.

Pepi and Dest combined in the penalty as the minutes ticked down, but were smothered out by Atletico’s well-organised defence, before Armando Obispo skewed a shot across Oblak’s goal from point-blank range in injury time.

“We didn’t take our chances and they did,” captain Jerdy Schouten told Ziggo Sport. “We started the match well, but they were stronger at the end of the first half.

“I think the game turned on minor things. We started to get worried and lose a bit of speed, which made our game static.”

PSV are 19th in the 36-team table midway through the sixth round of matches, two points above the cut-off line for the knock-out rounds, with a visit to Newcastle and a home match against Bayern Munich to come in January.