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Benzema had the ball in the net with just 10 seconds on the clock after a clever routine straight from kick off, but the goal was ruled out for offside.
Leonardo Bonucci hit the bar with a dipping free kick before Madrid took the lead midway through the first half.
Danilo conceded possession and when Vinicius drove at the Juventus defence he was felled by a clumsy challenge as the defender attempted to recover.
Benzema converted the penalty for his second goal in as many games, after missing Madrid's tour opening defeat to Barcelona.
Juve ntushad a penalty appeal of their own waved away when Eder Militao was forced to dive in on Angel Di Maria to salvage Ferland Mendy's underhit pass, while Vinicius shot into the side netting and Juventus defender Bremer threatened with a header before half-time.
Ancelotti made just one change at the break, Antonio Rudiger replacing Militao.
Benzema's left-footed curler was tipped around the post by Perin before Madrid made nine further changes with just over an hour played.
One of them, Asensio, made it 2-0, sweeping in Vallejo's cross from the edge of the six-yard box after some smart footwork from another substitute, Eden Hazard, to make sure of the win.