The Old Lady needed a win to be within the champions League qualification bracket.
The home team took the lead earlier into the game through Nahuel Molina's super strike.
Udinese looked set to bag all the three points having managed to hold on until the 83rd minute.
The hosts then committed a foul which resulted in a spot kick after an elbow in the penalty box.
Cristiano beautifully slotted home the penalty to equalize for Juve.
At the stroke of second half, Ronaldo headed in Adrien Rabiot's cross to give the visitors the lead.
An extra five minutes were added which made no difference as the scores ended 2-1 in favour of Juventus.
The Italian serie A is gone. After a ten year wait, Antonio Conte's Inter Milan have secured their silverware with four games to go.
The Italian Giants were confirmed champions after Atlanta failed to win away at Sassuolo.
The match which ended in a 1-1 draw meant that the highest points Atlanta can have if they win all the remaining games 81 one point behind Inter Milan's current tally.
Juventus still have to face both Milan sides with AC Milan coming up as one of their next fixtures.
They have to get maximum points from the remaining games if they are to secure a top four finish.
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