Red cards were brandished in both games to Bayern players and Ronaldo should have been flagged for off-side decisions on two of his goals in the second leg at the Bernabeu.
"A robbery like that can't be allowed to happen in the Champions League", fumed Vidal, who scored Bayern's only goal in the 2-1 first-leg defeat.
Ronaldo's first 15 Champions League goals came for United - including a towering header in the victorious 2008 final against Chelsea in Moscow - before he joined Madrid in 2009 for what was then a world-record fee of €94million.
"The anger is there, because he made a lot of mistakes".
However, it was Bayern who took the lead in the second half when Casemiro fouled Robben in the area and Lewandowski dispatched the penalty. "We are not happy about this".
Bayern winger Franck Ribery expressed his disappointment on social media, posting images of Ronaldo in an offside position before writing: "One year of hard work, thank you referee, bravo!" But Atletico, who have reached two finals in the last three seasons, remained tenacious on defence and managed to see out the match.
Bayern teammates Philip Lahm and Xabi Alonso will hang up their boots in a matter of weeks, meaning the defeat in the Bernabeu spelled the end of their Champions League playing days.
Real Madrid won 4-2 after extra-time to advance with a 6-3 aggregate success but Cristiano Ronaldo was offside for two of his three goals and a harsh dismissal for Arturo Vidal left a fuming Bayern with 10 men.
"We had thought of everything going into this game - except the referee", Ancelotti was quoted as saying by the BBC on Wednesday. In a quarter-final you have to have a referee with more quality, I think. "It was pretty clear and we start to doubt a little bit", the Chilean midfielder said.
"We knew that, if we didn't play really well, Bayern can score goals on any pitch", he said. "Some decisions by the referee ultimately decided the match", Ancelotti told the Bayern Munich website.
"The referee probably wasn't up to the task", said the Italian, a former Real boss.
Just what Ronaldo deserved - his goals may have been offside, but he was once again the hero.