The Royal Blues' left back feels that the Liga leaders have what it takes to beat the Bavarians, but added that the Santiago Bernabeu side are in for a difficult match
The Bavarians recorded a 2-1 victory at the Allianz Arena last week, but the defender believes that Los Blancos have what it takes to turn things round in Wednesday's return at the Santiago Bernabeu.
"I think that Real Madrid have more quality than Bayern. No disrespect towards Bayern, though, as they are a great team as well," Escudero said to Goal.com.
"I believe that Bayern will be a bit more defensive than they were in Munich, and Madrid will certainly score. It all depends on how the game develops.
"If Madrid don't manage to get an early goal, Bayern will grow in confidence and they'll give their utmost to make it to the final. German teams are usually physically very strong and defend well."
The left back then underlined the importance of Wednesday's game for the Bavarian giants.
"This is the game of the season for Bayern and everybody is talking about it like that. They lost the league to Dortmund a while ago, and this game is all that matters now.
"The final will be played at Bayern's own stadium, so it would be a huge achievement for them if they manage to eliminate Real Madrid."