But fellow forward Karim Benzema is a doubt after limping out of the match in the first half.
Toure, 32, has featured in all but one of City’s Champions League matches during a campaign that has seen them reach the last four for the first time.
City boss Manuel Pellegrini has not ruled the player out of next week’s second leg in Spain, saying the club will assess his fitness over the coming nine days.
‘City players are hungry for this’
Defender Kompany was rested for Saturday’s home win over Stoke but is ready to return and insists he and his team-mates are ready for the challenge of facing the 10-time European champions.
“”There’s not a day in my life where I’m thinking these occasions are stressful or difficult,” said the 30-year-old Belgium international.
“I want this for myself – and at this level all players want this for themselves. You have to play against those players as many times as we can and try and beat those teams.
“That’s what’s going to make history for this club.
“For every single player in the team, if you’re not hungry tomorrow, then you’ll never be hungry in football.”
Asked what role City’s supporters could play in helping the team gain a first-leg advantage, he said: “The biggest.
“I have never seen a Manchester City team not turn up when the fans are up for it. It’s an appeal to them that they have to be as loud as they’ve ever been. Otherwise, what’s the point in buying your ticket to come in?”
‘Hot heart, cold mind’
The tie brings City’s outgoing manager Pellegrini up against the club that sacked him in 2010 after just one season in charge.
However, the Chilean, who is leaving City at the end of the current campaign to be replaced by Pep Guardiola, said: “I don’t look back. I always prefer to think about what is happening now.
“I’m happy if we win the title, but I’m not wishing anything for my future.”
Pellegrini also called on his team to control their emotions after having players shown red cards in previous big European games.
They had a man sent off in both legs of the last-16 defeat by Barcelona in 2013-14, while Gael Clichy was dismissed in the first leg of last season’s loss to the same opponents at the same stage.
“We need to have a very hot heart but a cold mind, that’s a lesson we’ve learned,” Pellegrini added.
The stats you need to know
Manchester City and Real Madrid’s only previous competitive encounter was in the 2012-13 Champions League group stages. The Merengues won 3-2 at the Bernabeu before a 1-1 draw at Etihad Stadium.
For the sixth time in a row, Real Madrid will play the first-leg of a Champions League knockout tie away from home.
Manchester City have reached the semi-finals of the Champions League for the first time in their history. They have only won one of their four home games in the knockout stages, against PSG in this season’s quarter-finals (D1 L2).
Manchester City have only kept one clean sheet in their 10 Champions League games against Spanish opposition – a 3-0 away win against Villarreal in November 2011.
Manchester City are the only team left in the semi-finals who have averaged under 50% possession in the Champions League this season (48.6%).
Real Madrid have reached the semi-finals of the Champions League in each of the past six seasons, the longest current run. It is also their 27th appearance in the final four of the Champions League or European Cup, more than any other team.