Juventus coach Massimiliano Allegri says his team is "sorry and angry" following its 4-3 Champions League loss at Benfica on Tuesday as the club misses out on the knockout rounds for the first time since 2013-14.

The defeat means struggling Juve can only finish third in Group H, which would earn the Italian team a place in the Europa League knockout stages.

"More than the wrong approach, I think we were too soft in defence in the first half," Allegri told reporters. "We are disappointed and angry because we are out of the Champions League.