Normally, Aaron Judge is the one delivering the decisive home runs.

On Monday night, he couldn’t bring one back, as Ronald Acuna Jr.’s two-run shot in the top of the 11th glanced off Judge’s glove in right to give Atlanta the lead in a 5-3 Yankee loss in The Bronx.

Acuna, the Braves’ star rookie, went deep off David Robertson, the Yankees’ fifth relief pitcher used on the night.

“I always feel like I have a good shot,’’ Judge said of the play. “I felt it hit my glove, it didn’t go in, they got two runs. That’s all that really happened. It was a tough play.”

Judge walked with two outs in the bottom of the inning, but Didi Gregorius whiffed to end it and the Yankees dropped to a game back of Boston in the AL East after the Red Sox beat Washington.

But as much as the Yankees may be left lamenting Acuna’s homer, they’ll also regret the missed chances on offense, as they went 0-for-12 with runners in scoring position.

Most glaringly, the Yankees squandered golden opportunities to take the lead or end it late in the game.

Tied in the eighth, Aaron Hicks — fresh off his three-homer game on Sunday — doubled with one out and moved to third on Miguel Andujar’s fly ball to deep right. After the struggling Greg Bird was walked intentionally to put runners on the corners, Neil Walker was summoned to pinch hit for Kyle Higashioka.

But Walker struck out against right-hander Dan Winkler.

Six scoreless innings from the Yankees’ bullpen in relief of Jonathan Loaisiga — who gave up three runs in four innings before being optioned to Triple-A Scranton/Wilkes-Barre for what figures to be a short stay — put them in position to earn a second straight victory an inning later.

Gleyber Torres singled to lead off the bottom of the ninth, but Aaron Boone opted not to bunt with Brett Gardner, which would have led to Judge being walked intentionally. Gardner grounded into a double play and Judge struck out.

In the 10th, Hicks’ ground-rule double to right may have knocked in Gregorius from first with the winning run if it stayed in play. Instead, it bounced into the seats, keeping Gregorius at third.

The Braves followed by walking Andujar to load the bases for Bird.

Boone defended his decision to stick with Bird against the lefty Jesse Biddle rather than go with right-handed Brandon Drury off the bench, pointing to Bird’s ability to get on base and the fact that Drury was the last player available.

Bird responded with his second strikeout and Austin Romine, who entered the game in the ninth, also whiffed.

Boone admitted there was frustration in losing a game in which their difficulty hitting with runners in scoring position cost them, but remained confident in his lineup.

“We’re a team that wants to put [runners] out there and more often than not, we’ll come through in those situations,’’ the manager said. “We couldn’t get over the hump tonight.’’

And that failure quickly came back to bite the Yankees.

The 11th opened with Nick Markakis reaching on an error by Torres, who was shifted into shallow right and couldn’t field his grounder cleanly. After Robertson got Kurt Suzuki on a forceout, Acuna hit his seventh homer of the season.

“Man, he hit it and I thought it was an out,” said Robertson, who hadn’t allowed a homer to a right-handed hitter since Oakland’s Adam Rosales took him deep on June 25, 2017, when Robertson was still with the White Sox.

“But playing here at Yankee Stadium, you see it all the time,’’ Robertson said. “The short porch gets you in right field. I wish Judge would have caught it. It would’ve been awesome. But it didn’t happen tonight.”