Classic win for Real, joy for PSG and Malaga

* Ronaldo's late strike earns 3-2 win over Manchester City

* Big-spending Paris St Germain thrash Dynamo Kiev 4-1

* Debutants Malaga beat Zenit, Milan booed off at San Siro

LONDON - Real Madrid fashioned a stunning comeback to beat Manchester City 3-2 in a classic Champions League match with a last-gasp Cristiano Ronaldo strike in their Group D opener on Tuesday.

There were also wins for Paris St Germain, who beat Dynamo Kiev 4-1 on their return to the competition after eight years, newcomers Malaga, who beat Zenit St Petersburg 3-0 and former Champions League holders Porto who won 2-0 at Dinamo Zagreb.

In a clash of ex-European title winners Borussia Dortmund beat Ajax Amsterdam 1-0 while seven-times European champions AC Milan were booed off after a 0-0 home draw against Anderlecht.

Borussia Dortmund's players celebrate a goal against Ajax Amsterdam during the Champions League Group D soccer match in Dortmund, Sept 18, 2012. [Photo/Agencies]

Arsenal rode their luck to beat French champions Montpellier 2-1 away after conceding an early penalty.

But the outstanding game of the night was in Madrid where all five goals at the Santiago Bernabeu stadium came in the final 22 minutes with City taking a 1-0 lead through Edin Dzeko before Marcelo equalised six minutes later.

Aleksandar Kolarov put City back in front with a free-kick after 85 minutes which looked like the winner before Karim Benzema equalized in the 87th and Ronaldo, the ex-Manchester United forward, struck in the 90th to bury the visitors.

Real are aiming to become European champions for the 10th time at Wembley Stadium next May and their opening group win, against the odds in the closing minutes, will only boost their confidence after a slow start to their domestic season.

"I celebrate when I have to celebrate," a jubilant Ronaldo, who has now scored 151 goals in 151 appearances for Real, said in an interview with Spanish television.

"The match was very important for us and we are back in the fight," added the Portuguese international, who took his tally to 39 Champions League goals.

Jose Mourinho, whose side have won only one of their first four La Liga matches, told ITV: "Real Madrid can lose matches, Jose Mourinho can lose matches, but my happiness is not just that we got three points, but that my team is back."