The Bavarian giant had reached the last 16 stage in each of the previous 19 seasons and had lifted the cup in the last two of those, but it was stunned by Kiel in the clash at Holstein-Stadion.

Leroy Sane had Bayern on the brink of a place in the next round with his sublime free-kick early in the second half after Fin Bartels had earlier cancelled out Serge Gnabry's close-range opener.

But Kiel skipper Hauke Wahl scored in the 95th minute to force extra time and Bayern, who brought on star striker Robert Lewandowski with 74 minutes played, could not find a third goal as the tie went the distance.

The first 10 penalties were successfully put away but substitute Marc Roca was denied by Ioannis Gelios, setting up Bartels to convert and send the home side through 6-5 on spot-kicks, with Darmstadt to come in the last 16.