Barcelona snatched a 2-1 Clasico win over Real Madrid with Franck Kessie's late goal Sunday to move 12 points clear at the top of La Liga.
The victory dents Madrid's ambitions of retaining the title and leaves the Catalans close to lifting the trophy for the first time since 2019.
Both sides had chances to win the game and Marco Asensio struck for Madrid, but the goal was ruled offside by VAR, before Alejandro Balde set up Kessie in the 92nd minute.
"We came from a Marco Asensio goal that we didn't know was offside and from losing, we scored Franck's goal, and the truth is it tastes a bit better, winning like that in the last minute," Sergi Roberto told Movistar.
"There are a lot of games left and you can never give Madrid up for dead. 12 points is a tricky distance to have to go, but it's up to us, and that is good."
The build-up to the match was overshadowed by Barcelona's corruption charge in the "Caso Negreira" refereeing scandal.
Madrid joined Spanish prosecutors' complaint against Barcelona last week and their president Florentino Perez snubbed the game for the first time in over 20 years, amid rising tensions between the two Spanish giants.
Xavi asked fans to make the stadium a pressure cooker and they responded, selling it out, whistling Madrid in possession and conjuring one of the best atmospheres of the season.
Madrid did not manage a single shot on target in their Copa del Rey semi-final first leg defeat by Barcelona earlier in March, but Karim Benzema stung Marc-Andre ter Stegen's palms inside the first minute.
Robert Lewandowski responded at the other end by testing Thibaut Courtois as the veteran marksmen exchanged shots.
When Barcelona conceded the opening goal of the game, it was friendly fire. Araujo deflected Vinicius' cross in at the near post, with Ter Stegen helpless.
Araujo, playing at right-back to counteract the Brazilian, has enjoyed his duels with Vinicius in the past but this time the winger triumphed, albeit fortuitously. Barcelona supporters became enraged by his emphatic celebration in front of them.
It was the first goal from open play Barcelona have conceded at Camp Nou in La Liga all season long, and only the second strike at home and ninth overall.
- Comeback charge -
Barcelona complained defender Nacho, already booked, should have been sent off for a hand-off on Raphinha.
The hosts did not get their wish, but were building up steam and found the breakthrough just before half-time, from an unlikely source.
Selected in place of injured midfielder Pedri, Sergi Roberto was in the right place at the right time to control a loose ball in the box and arc it beyond Courtois.
Barcelona had significantly more possession than in their cup win over Madrid and significantly more chances.
Lewandowski sent a deflected piledriver narrowly wide as Madrid wobbled, prompting Carlo Ancelotti to roll the dice and bring on Rodrygo and Ferland Mendy.
It almost paid instant dividends as Madrid robbed Sergio Busquets and Rodrygo lashed inches over the bar.
Madrid substitute Asensio fired home what might have been the winner but the goal was ruled out for offside after a nervy wait for VAR instruction.
Barcelona seemed content with the draw but Kessie's last-gasp strike sparked wild celebrations at Camp Nou.
Asked if Madrid's hopes of defending the title were over, Courtois told Movistar: "Yes, we have to be honest, we will keep fighting until the end but it's (12 points) now, we have the better head-to-head, but they have to lose four games and we have to win them all.
"Nothing is impossible but it's very difficult."