The Bundesliga broke the deadlock at the Allianz Stadium through Karim Adeyemi (52') but were pegged back when Kenan Yildiz (63') levelled for the Serie A team with half an hour of the match remaining.
Felix Nmecha (65') restored Dortmund's lead, but Dusan Vlahovic (67') hit back with a quick-fire leveller.
Yan Couto (74') put the German side in front for the third time, and Ramy Bensebaini netted an 86th minute penalty to create a two-goal cushion, but Juventus secured the draw in injury time, as Vlahovic (90+4') netted his second, while Lloyd Kelly fired home in the six minute of extra time at the end of the clash.
Speaking after the match, Juve head coach Igor Tudor said his team 'cannot carry on like this' after following a 4-3 win over Inter with their 4-4 draw against Dortmund.
"I've already had enough of this type of match," Tudor told Sky Sport Italia.
"We are conceding too many, at least we’re scoring a lot too, but we cannot carry on like this. It was so difficult in the second half to keep the energy levels up three days after an incredibly tough match, whereas Borussia Dortmund you could tell had a really easy game at the weekend.
"There was great heart, those who came off the bench made a big difference again, as they have been doing in all four matches now. Borussia Dortmund have great individual talents in every area, we had a few problems losing intensity, but we are dangerous every time we attack.
"We conceded the goals too cheaply, they were avoidable situations. In the end, individual quality is decisive in football, like the Kenan Yildiz goal that came out of nowhere."
After watching his side throw away a two-goal lead, Dortmund boss Niko Kovac added: "What wasn't good were the last four minutes. That's what hurts."