It was a crushing blow for Bayern and Chelsea sensed their moment, pushing for an unlikely winner in the closing moments as the momentum swung in their favour.
Five minutes into extra time Drogba gave Bayern the perfect chance to go back in front when he clipped the heels of Ribery in the area to concede a penalty but Petr Cech came to his side's rescue with a superb stop to keep out Robben's penalty.
Substitute Ivica Olic had his head in his hands in the second period of extra time as he prodded a volley agonisingly wide of the post with Cech helpless.
The night still seemed to be heading Bayern's way when they moved 3-1 ahead in the penalty shootout after Juan Mata missed Chelsea's first spot kick but Olic missed for Bayern and when Schweinsteiger struck the post the stage was left for Ivorian Drogba to write his name into Chelsea folkore.
Image: Chelsea players celebrate Didier Drogba's game-winning penalty kick in a shootout in the Champions League final soccer match against Bayern Munich in Munich, Germany Saturday May 19, 2012.