Madrid impress, Atlético fall, Liverpool relief

• Holders Real Madrid make a superb start with four first-half goals to beat Basel 5-1
• Atlético fall 3-2 at Olympiacos while 2013 runners-up Dortmund defeat Arsenal 2-0
• Debutants Malmö and Ludogorets suffer creditable losses at Juventus and Liverpool
• Zenit win at Benfica, Galatasaray deny Anderlecht and Monaco return with victory

Follow the match links for reports, reaction and highlights (until 24.00CET on Wednesday).

Group A
Olympiacos FC 3-2 Club Atlético de Madrid
• Arthur Masuaku and Ibrahim Afellay scored early against last season's finalists and after Mario Mandžukić pulled one back, Kostas Mitroglou secured the points despite Antoine Griezmann's late strike.

Juventus 2-0 Malmö FF
• Carlos Tévez ended a 14-game wait for a UEFA Champions League goal just before the hour and struck again late on to see off stubborn debutants.

Group B
Liverpool FC 2-1 PFC Ludogorets Razgrad
• Mario Balotelli found the net with eight minutes left and although Dani Abala levelled in added time, Steven Gerrard converted a last-gasp penalty.

Real Madrid CF 5-1 FC Basel 1893
• The holders started superbly with Marek Suchý's own goal added to by Gareth Bale, Cristiano Ronaldo and James Rodríguez before the break and Karim Benzema late on.

Hulk celebrates the season's first goal©AFP/Getty Images

Group C
AS Monaco FC 1-0 Bayer 04 Leverkusen
• It was a happy end to a ten-year group-stage absence for Monaco thanks to João Moutinho's second-half strike.

Galatasaray AŞ 1-1 RSC Anderlecht
• Dennis Praet's fine solo effort in the 52nd minute appeared to have clinched a priceless away win but Burak Yılmaz equalised in added time.

Group D
SL Benfica 0-2 FC Zenit
• Hulk scored the season's first goal and, after Benfica keeper Artur was sent off, Axel Witsel struck away to his old club.

Borussia Dortmund 2-0 Arsenal FC
• Ciro Immobile made it 1-0 just before the break and Pierre-Emerick Aubameyang's chip doubled up three minutes into the second half.