Inter Milan have recovered from Rodrigo Palacio's missed penalty to lead Atalanta 1-0 at half time thanks to substitute Pablo Osvaldo's late strike.

After a bright start, the home side hit the woodwork on 17 minutes through Nemanja Vidic's powerful header.

A minute later Palacio nearly put his side ahead when he raced onto Mateo Kovacic's through-ball, but his effort was well saved by Marco Sportiello in the Atalanta goal.

Inter Milan were then given a golden chance to open the scoring when Yohan Benalouane carelessly bundled over Andrea Ranocchia in the Atalanta box, but Palacio's penalty was tipped around the post by Sportiello.

However, the Atalanta goalkeeper was powerless to stop Osvaldo, who had replaced the injured Mauro Icardi, from lashing Fredy Guarin's free kick into the bottom corner on 40 minutes.