Borussia Dortmund's players celebrate after defeating Bayern Munich in their German Cup (DFB Pokal) semi-final soccer match in Munich, Germany April 28, 2015. Dortmund won the match 2-0 on penalties. [Photo/Agencies]

MUNICH - Holders Bayern Munich slumped out of the German Cup semi-finals 2-0 on penalties to Borussia Dortmund on Tuesday after failing to score any of their spot kicks as their hopes of repeating their 2013 treble were dashed.

Bayern, who won the Bundesliga title on Sunday, had captain Philipp Lahm and Xabi Alonso slip as they sent their penalties into the stands as the Munich side missed all four of their efforts after a 1-1 draw following extra time.

Dortmund, beaten finalists last season, took revenge and maintained their hopes of a Europa League spot next term through the Cup competition after a disappointing Bundesliga campaign.

Unlucky Bayern will now focus on the Champions League where they face Barcelona in the last four next week.

"I did not expect such a game," beaming Dortmund coach Juergen Klopp told reporters.

"I wanted us to play with more courage in the first half and I told my players that it is ok to lose here but not with this nonsense. Let's go down fighting," added Klopp, who is leaving the club at the end of the season.

Yet it had all looked to be going in Bayern's favour with their former Dortmund striker Robert Lewandowski scoring for the third time against his old club when he drilled home on the rebound in the 30th minute.

The Poland international then hit the post in the second half as Bayern dominated and looked certain to enjoy more goals.

But a quick break sent Dortmund's Pierre-Emerick Aubameyang through at the far post and the Gabon forward slid in for the equaliser in the 75th against the run of play.