After dominating long sections of the match, the hosts looked as though they would have to settle for a draw until the Italy international popped up with a dramatic late brace
The Bianconeri dominated the vast majority of the match without looking like breaking the deadlock. But, in the final three minutes, Claudio Marchisio popped up with two fortunate goals to secure the win and send his side back level with Udinese at the top of the table.
Milan's misery was compounded in the 89th minute when Kevin-Prince Boateng was dismissed following a second yellow card for hitting Giorgio Chiellini with a flailing arm.
The first half began at a frantic pace with Juventus firmly in the ascendancy as they drove at Milan almost from the first whistle, and while there would be no scoring in the first 45, the hosts looked far more likely to break the deadlock.
Former Milan player Andrea Pirlo was the first to force Christian Abbiati in action when, in the 20th minute, he fired off a long-range effort which the goalkeeper gathered with relative ease.
Seven minutes later, he again forced a save from the Rossoneri custodian with a free-kick, which although on target, was far too central, leaving Abbiati the simple task of punching to safety.
The half continued in a similar vein with the likes of Marchisio and Mirko Vucinic peppering the Milan goal with shots from distance. And it was from one of these efforts that the Old Lady came closest to striking the first blow.
In the 37th minute, Vucinic accepted a Pirlo pass on the edge of the Milan area and instantly looked to catch Abbiati out with a visionary chip. However, the Milan keeper appeared to get the merest of touches on the ball to push it onto the underside of the crossbar.
The second period followed an almost identical pattern, particularly in the early stages as Abbiati contorted his body to flip the ball over the crossbar after Leonardo Bonucci bundled Pirlo's cross from the left towards goal.
For their part, Milan began to have sporadic spells as an attacking force, and actually almost snatched an undeserved lead in the 51st minute when Boateng volleyed Antionio Cassano’s intelligent pass back across Gianluigi Buffon’s goal. The ball appeared destined for the back of the net until Buffon shot out an arm to touch the ball wide.
And just when it looked looked like the match would end in stalemate Marchisio popped up with two late goals to snatch all three points.
In the 87th minute, he bundled home after Daniele Bonera smashed the ball against him following a neat one-two with Vucinic.
Boateng then received his marching orders after he was shown a second yellow for throwing out an arm which caught Chiellini in the face.
Then, in the third minute minute of stoppage time, Marchisio completed his double with a long-range volley which somehow slipped through Abbiati’s grasp and into the net to ensure the encounter would now be a memorable one.
Serie A action now takes a short hiatus with the upcoming international break, but Milan return to action on October 15 when they host Palermo. Juventus, on the other hand, must wait an extra 24 hours as they travel to Verona to meet Cheivo the following day.