- Chimy Ávila (85')
- Antoine Griezmann (20')
- Rodrigo Riquelme (81')
- Álvaro Morata (85')
Atletico, who have a game in hand, moved up to fifth place in the LaLiga standings on 13 points, six behind surprise leaders Girona.
However, Atletico hit back in the very next play with Griezmann, who was quick to react to a rebound after Osasuna goalkeeper Aitor Fernández failed to hold on to Samuel Lino's cross. Griezmann rifled a close-range strike into the net.
Osasuna remained the dominant side and almost scored in the 37th minute, when left winger Johan Mojica dibbled past two defenders before unleashing a bullet strike off the near post.
The hosts created several chances, with Atletico goalkeeper Jan Oblak making a brilliant save to deny a point-blank strike from Torro in the 66th minute.
Tensions boiled over after Osasuna manager Jagoba Arrasate was shown a red card for arguing with the referee when David Garcia's goal was ruled out in the 75th minute.
Atletico scored from a quick counter-attack led by fullback Samuel Lino.
The Brazilian played a superb pass through to substitute Riquelme, who beat onrushing goalkeeper Fernandez and slotted into an empty net.
"Every time we play here is a complex situation. It feels like the game will never end," Atletico manager Diego Simeone told DAZN.
"We ended winning more comfortably than we probably should thanks to a counter-attack, but I don't think the score reflects what really happened.
"It was an important and tough win and we need some rest."
- Juan Martínez Munuera