Both sides had Brazilians in their starting line-ups, with Julio Cesar in goal for Coppa Italia holders Inter. Thiago Silva and Robinho both started for Serie A champions Milan, who also had Alexandre Pato on the bench.
Inter went in front after 22 minutes when Wesley Sneijder curled in a fine free-kick from just outside the area. Milan equalised on the hour, when Robinho chipped a delightful pass into the path of Clarence Seedorf, who squared for Zlatan Ibrahmovic to head into an empty net.
Pato came on for his fellow countryman Robinho a minute later, and the young striker was involved in Milan’s winning goal. His shot was tipped onto the post by Julio Cesar, and Kevin-Prince Boateng slid in the rebound.
The win will give Milan a boost ahead of the new Serie A season, which kicks off on August 27.