There was late drama in the Champions League Group D opener between Borussia Dortmund and Ajax where Robert Lewandowski's 87th-minute goal gave the home side a 1-0 victory.

Mats Hummels' missed second-half penalty looked like being costly for Jurgen Klopp's side but Lewandowski struck three minutes from time in front of a crowd of more than 80,000 at the Westfalenstadion.

Paris St Germain made a convincing start to their Champions League Group A campaign with a 4-1 victory over Dynamo Kiev at the Parc des Princes.

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