Udinese missed out on the Champions League for the second season running, losing on penalties to Braga in the playoffs after a comical shootout miss to leave Italy with only two clubs in Europe's top competition.

Brazilian substitute Maicosuel tried to emulate Andrea Pirlo's effort for Italy against England at Euro 2012 by nonchalantly chipping the ball into the middle of the goal but mis-hit his shot and allowed Braga's goalkeeper Beto to save.

Spain's Malaga, facing uncertainty behind the scenes amid speculation that their Qatari owner is looking to sell up, overcame their internal worries to reach the group stage for the first time after drawing 0-0 at Panathinaikos.

Anderlecht qualified for the first time since 2006/07 with a 2-0 win over AEL Limassol, denying the Cypriot champions a chance to emulate APOEL Nicosia who reached the quarter-finals last time.

The Belgians were joined in the group stage and Thursday's draw in Monaco by BATE Borisov of Belarus and Croatia's Dinamo Zagreb, who both qualified for the second year running.

Portuguese side Braga's collection of Brazilian journeymen won 5-4 on penalties against shattered Udinese after the two sides drew 1-1 for a 2-2 aggregate draw.

Beaten by Arsenal at the same stage last season, Udinese made a jittery start against opponents wearing the same colour strip as the English side but went ahead after 25 minutes.

Dusan Basta hooked a cross into the area and Pablo Armero dived in to head the ball beyond goalkeeper Beto.

The Colombian also had a golden chance to add a second early in the second half when he had a free shot on goal but, in a moment of pure slapstick, slipped over as he took aim.

Braga, whose side includes seven Brazilians who are mostly well-travelled and have plied their trade at unglamorous clubs, were in control by then and levelled when substitute Ruben Micael headed in Mossoro's cross in the 72nd minute.

Udinese's defeat means Italy will have only Serie A champions Juventus and seven-times European Cup winners AC Milan in the group stage.

Malaga, Anderlecht, BATE Borisov and Dinamo Zagreb also qualified on Wednesday