It increases the pressure on Madrid boss Zinedine Zidane and continues his struggles since he returned to the Bernabeu for a second managerial spell in March.
Real Madrid's Gareth Bale shoots at goal from a free kick.
"We have not played well, they [PSG] have had control of the game and we know that it is hard to play here", he told Movistar. Former Los Blancos star Angel Di Maria scored a first-half brace before Thomas Meunier completed the humiliation with a goal in the 90th minute.
"What upset me is that we did not put enough intensity in the game and at that level of competition, it's not possible". PSG were the better team in every possble way.
It remained 2-0 at half-time, despite more chances, and Icardi's night finished with an hour played as former Stoke forward Eric Choupo-Moting came on for him and PSG nearly added another straight after.
What: Real Madrid face Paris Saint-Germain in a UEFA Champions League group stage (Group A) match.
Neymar is now hated by many PSG fans for trying to force his way out of the club in the summer.
"You can play badly but if you have the intensity, if you fight for the ball, you're in the game", he added.
Alongside Icardi was Di Maria and the former Madrid winger opened the scoring with 14 on the clock, firing past Thibaut Courtois at his near post from eight yards out after Juan Bernet's cut-back. "If someone asks me if we're going to win the Champions League, I'm out of here", Tuchel told a news conference, following their first Champions League game since Manchester United's shock 3-1 win in Paris knocked them out last season.
When talking to the media after the match, Tuchel stated that the absence of three of his best players might have helped the team as the pressure was less. It was all Di Maria.
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