In a game which saw both teams score four goals apiece, Palmer stepped up against his former club to smash home a 94th minute equaliser against champions Manchester City after Armando Broja was chopped down in the box by Ruben Dias.
The result sees City's lead at the top of the Premier League cut to just one point, while Chelsea move up to the top half of the table after two very good results in the space of a week.
Manchester City were awarded a penalty kick when a tussle in the box between Marc Cucurella and Erling Haaland resulted in the latter falling flat on his face in the six yard box.
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