Denmark recovered from a goal down in both regulation time and the additional period, but those wayward spot-kicks allowed Czechia to claim glory, reaching its first World Cup since 2006.

Miroslav Koubek's team, which also defeated Republic of Ireland on penalties in its play-off semi-final, will now go into Group A alongside Mexico, South Korea and South Africa. 

Czechia could hardly have asked for a better start as it scored from its first attack in the third minute. Vladimir Coufal's corner was only partially cleared as far as Pavel Sulc, and the Lyon attacker sent a scorching volley into the top-right corner from near the edge of the area.

Gustav Isaksen's free-kick drew a full-stretch save from Matej Kovar as Denmark dominated possession and hunted an equaliser, though Czechia almost grabbed a second goal on the counter as Mads Hermansen pushed Lukas Provod's effort wide.

Denmark struggled to carve out clear-cut chances throughout the second half, though two Premier League players combined for its 72nd-minute equaliser as Joachim Andersen headed Mikkel Damsgaard's free-kick home.  

Hojlund passed up a good chance to win it for Denmark without the need for extra time, and it fell behind again 10 minutes into the additional period, as Czechia captain Ladislav Krejci saw his shot deflect in off Alexander Bah, after a scramble caused by Coufal's long throw.

Denmark refused to go away quietly, though, and Bodo/Glimt star Kasper Hogh ensured penalties would be required when he glanced Dreyer's corner past Kovar.

The shoot-out started dismally for the Danes as Hojlund powered against the crossbar, with Dreyer then being denied by Kovar from their second kick. 

Krejci's poor effort – which was comfortably repelled by Hermansen – looked to have let the visitors back in, but Brentford midfielder Jensen then sent his kick spiralling over.

That allowed Michal Sadilek, who had come on to replace Sulc in the closing stages of extra time, to win it for the host.