For Maurizio Sarri's men, the defeat meant they would have to wait until another day to clinch their ninth successive Serie A title.
Ilija Nestorovski equalised before Seko Fofana scored a dramatic 92nd-minute victor, leaving Juve six points clear with three games remaining. "In this way, we took the game to a unsafe level, and after the 90th minute, we lost it".
Matthijs de Ligt started for the league leaders, while Bram Nuytinck, Hidde Ter Avest, and Marvin Zeegelaar all started for Udinese. "In this way we took the game to a unsafe level, and after the 90th minute, we lost it", Sarri was quoted as saying by the club's official wesbite after the match.
"In this period we are physically and mentally exhausted, and it is a problem common to all".
'Everyone believed that Juventus came to celebrate today but we are not their waiters and we played with great personality.
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Juventus still have chance to be crowned before the final round of matches if they can beat Sampdoria at the Allianz Stadium on Sunday.
Udinese keeper Juan Musso denied Paulo Dybala - who was wearing the Juventus captain's armband - after 13 minutes with Cristiano Ronaldo's long-range effort wide before De Ligt broke through, smashing in after 42 minutes.
Seko Fofana scored the victor for the hosts in second-half injury time to steal all three points from Juventus.
"It's hard to keep up mentally and physically for 90 minutes".
With Thursday's result, Gotti's side moved to 15th in the Italian top-flight log having garnered 39 points from 35 league outings - seven points off the drop zone. Immobile scored his 31st goal of the season in Lazio's 2-1 win over Cagliari to take him one above Ronaldo's total.
Sergey Milinkovic-Savic got Lazio back into the game just after the break with Ciro Immobile connecting with a Luis Alberto cross for the victor after an hour in Sardinia.