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Leipzig's Benjamin Sesko put the visitors in front just four minutes in but Antoine Griezmann levelled things up after 28 minutes.
In the final minute of regular time, the Frenchman chipped goalwards from the edge of the box and Gimenez rose high to head the ball back across goalkeeper Peter Gulacsi and into the goal.
"It's amazing, to get a last-minute goal like this is always fantastic and it's good to give the fans something to cheer about," Atletico's former Leipzig striker Alexander Sorloth told DAZN.
"We just keep on building, believe in ourselves and we put the pressure on Leipzig and won the game."
Leipzig's Christoph Baumgartner said: "We're of course disappointed because there was something in it for us today. We could have taken at least a point back home from Madrid (but) Atletico were a goal better."
