Joe Aribo opened the scoring early in the second half but his effort was cancelled out by Colombian forward Rafael Borre to make it 1-1 and take the game into extra-time.
Here, Sportsmail assesses how both sets of players got on in the Europa League final in Seville.
Eintracht Frankfurt were crowned Europa League champions with a penalty shoot-out win
Joe Aribo broke the deadlock for Rangers in the 57th minute of the Europa League final
Rafael Borre (pictured) equalised for Eintracht Frankfurt just 12 minutes later in Seville
Allan McGregor – 7.5
One good save from Ansgar Knauff and no chance at Borre’s goal in his 104th European appearance for Rangers.
Allan McGregor made a good save to deny Ansgar Knauff in his 104th European appearance
James Tavernier – 7
Rangers captain was not at his usual attacking best but that was largely down to being up against dangerous Filip Kostic.
Connor Goldson – 6.5
Perhaps fortunate not to concede penalty, but should have done better to cut out delivery at Borre’s leveller.
Calvin Bassey – 8
The left-sided centre back’s terrific pace helped repel Frankfurt’s pacy attackers. Could also have done better at equaliser.
Calvin Bassey helped repel Frankfurt’s pacy attackers with his terrific pace throughout the tie
Borna Barisic – 7
Had his hands full against Knauff but Croatia international left back coped well against Frankfurt dangerman.
Ryan Jack – 7
One half chance shot over the bar in typically solid performance in engine room before making way for Steven Davis.
John Lundstram – 7
Not as influential as previously on this European run. Got away with high boot on Sebastian Rode early on.
John Lundstram was not as influential as he has been for Rangers on this European run
Glen Kamara – 7
£50,000 signing from Dundee gave strong performance in a European final, one of Rangers’ best value for money signings.
Ryan Kent – 6.5
Rangers dangerman picked a poor evening to have a quiet night. Slashed one great opportunity wide of goal.
Joe Aribo – 7.5
Auxiliary striker was enduring a tough evening when he capitalised on Tuta’s fall to score with a fine finish.
Joe Aribo was enduring a tough evening when he capitalised on Tuta’s fall to score his goal
Scott Wright – 7
Wide attacker’s pressing led to Rangers’ goal but could have shut down cross for Frankfurt’s leveller.
Steven Davis (for Jack 74)
Fashion Sakala (for Wright 74)
Arfield (for Kamara 90)
Sands (for Aribo 101)
Former Arsenal midfielder Aaron Ramsey was the only player to miss in the shoot-out
Aaron Ramsey (for Sakala 117)
Kemar Roofe (for Barisic 117)
Unused subs: Diallo, Balogun, McCrorie, McLaughlin, Lowry, King.
Manager: Giovanni Van Bronckhorst – 7
Rangers boss has worked miracles to get his side to a European final against all the odds.
Kevin Trapp – 6.5
Tipped Lundstram’s header over but didn’t have great deal to do in first half. No chance as Aribo held his nerve to score opener.
Almamy Toure – 6.5
Started convincingly but was then given stern test by Kent. Stood up strong when it looked like Rangers might take game away from Eintracht.
Almamy Toure was given a stern test by Ryan Kent, but stood up strong in the match
Tuta – 5
Calamitous slip allowed Aribo to slot home. Brazilian had made some key interceptions and was key to Eintracht building from the back.
Evan N’Dicka – 6.5
Powerful French defender kept Aribo quiet initially but became increasingly ruffled as Rangers grew into the contest. Some key blocks.
Ansgar Knauff – 6.5
Only McGregor’s outstretched arm denied him the opener after he motored into space. Tried to outrun Bassey but got little change from defender.
Ansgar Knauff (pictured) was denied an opening goal by Rangers’ Allan McGregor
Sebastian Rode – 6.5
Skipper took John Lundstram’s boot to his face inside five minutes. Dusted himself down but each time he looked up, Kamara seemed to be there.
Djibril Sow – 6
Swiss was first to work McGregor with shot from edge of the box. Poor header caused the uncertainty which led to the opening goal.
Filip Kostic – 6.5
Left-sided midfielder was tasked with providing penetration while pinning Tavernier back. Sent dipping shot onto roof of the net.
Filip Kostic was tasked with providing penetration while pinning James Tavernier back
Jesper Lindstrom – 6
Saw his shot blocked by his own man Kamada who was only three yards from goal. Spun Kamara and fired just wide at start of second half.
Daichi Kamada – 6.5
Japanese worried Rangers with his dribbling intelligent runs from deep. Wasted a good chance to equalise by chipping onto roof of net.
Rafael Borre – 6.5
Started slowly but produced clinical finish to draw his side level. Will feel he should have had a penalty when Goldson clipped him.
Rafael Borre (pictured) started slowly but produced clinical finish to draw his side level
Makoto Hasebe (for Tuta 58)
Jens Petter Haugeat (for Lindstrom 71)
Kristijan Jakic (for Rode 90)
Lenz (for N’Dicka 101)
Hrustic (for Sow 105)
Unused subs: Jakic, Lammers, Ache, Chandler, Hauge, Da Costa, Barkok, Grahl, Paciencia.
Manager: Oliver Glasner – 6.5
Glasner will be proud at how his side bounced back after falling behind.
Referee: Slavko Vincic (Slovenia)