Edin Dzeko, celebrating his 100th game for the Giallorossi, scored his 58th and 59th goals for the club midway through the second half as Eusebio Di Francesco's side fought back from 2-0 down to take the lead, after Aleksandar Kolarov scored an important goal on the stroke of half-time.
Eden Hazard then equalised moments later, setting up a tense finish, as both sides ended up settling for a share of the points.
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The result means Roma remain second in Group C at the half-way stage of the competition, with five points from their opening three games.
With Atletico Madrid drawing 0-0 against Qarabag in Baku, the return fixture against Chelsea promises to be highly important.
In what was a thrilling game in west London, the match was lit up by Dzeko - who scored a phenomenal goal shortly after the hour-mark to draw the Giallorossi level.
Looking over his shoulder as Federico Fazio lofted a long ball in his direction, the forward ran onto it before lashing an unstoppable first-time volley beyond Thibaut Courtois.
A header followed soon after, as Roma responded brilliantly from an uncertain start. Hazard too grabbed his second of the game soon after, and in the end neither side was too disappointed with a draw.
Eusebio Di Francesco included a couple of surprises in his line-up for the game, with Maxime Gonalons replacing Daniele De Rossi in the centre of the pitch and Gerson being named on the right of the attacking trident - as Alessandro Florenzi dropped to the bench.
Radja Nainggolan captained the side.
5' - Roma start brightly but it's Chelsea who create the first clear chance ... Morata shoots straight at Alisson.
8' - Diego Perotti with a brilliant slaloming run through the middle, but his powerful strike is just over!
11' - Goal. Chelsea lead. Luiz runs onto the loose ball and curls his shot inside the far post from 25 yards. 1-0.
21' - The ball breaks kindly for Hazard, who surges forward and shots low and narrowly wide of the far post.
31' - CHANCE! The ball breaks to Radja inside the box ... but Courtois stops the shot low to his left with his feet!
34' - Another good move from Roma sees Perotti open inside the box - but Courtois saves again!
37' - Goal. Chelsea double their lead. Morata's shot is deflected into path of Hazard, who steers home at the back post. 2-0.
40' - GOAL! ROMA SCORE! Kolarov drives his way into the box and unleashes a powerful drive that takes a slight deflection on it's way past Courtois! 2-1!
See more images in our dedicated match gallery.
60' - Gerson throws himself at Strootman's cross but cannot direct his header on target.
64' - GOAL! ROMA EQUALISE! What a strike from Edin! On his 100th appearance, the striker thumps an unstoppable first-time volley beyond Courtois!! 2-2!
70' - GOAL! EDIN AGAIN! ROMA LEAD! The striker meets Kolarov's free-kick inside the six-yard box and steers his header beyond Courtois! 2-3!
75' - Goal. Chelsea hit back. Hazard nods home from close range. 3-3.
82' - CHANCE! Dzeko meets Peres's inviting cross but steers his header wide of the near post!
90' - Cahill meets Fabregas's inswinging free-kick, but his looping header goes over the top.
See more game statistics in our dedicated match centre.
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“It’s been a splendid evening, even though we could have won this. A point is positive for us, plus we put on an incredible display, all of us from the get-go.“Perhaps yes, [we can work on cutting out mistakes]. But they’re a strong team – they basically scored three goals from three opportunities. Our mentality was the right one – from the first minute we played our game against Chelsea, who are a great side. I’m very happy.”
- Edin Dzeko
“We played a good game. It feels a bit strange for it to finish 3-3, on the pitch we felt stronger and we were able to score our goals very quickly. The result is good for the team morale."
- Radja Nainggolan
Roma are away again at the weekend - as they travel to face Torino on Sunday afternoon.
They then host Crotone at the Stadio Olimpico next Wednesday.
Goalscorers: David Luiz (10'), Hazard (37', 75'); Kolarov (40'), Dzeko (64', 70')
Chelsea: Courtois; Alonso, Azpilicueta, Christensen, Cahill, Zappacosta; Bakayoko, David Luiz, Fabregas; Hazard, Morata.
Roma: Alisson; Peres, Fazio, J. Jesus, Kolarov; Nainggolan, Gonalons, Strootman (Florenzi); Gerson (Pellegrini), Dzeko, Perotti (El Shaarawy).
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