Harry Kane scored in the Extra Time to give England a spot in the Euro 2020 final.
Kane is now on a joint-level with Gary Lineker for most goals scored (10) for England at a major tournament.
Mikkel Damsgaard gave Denmark a 1-0 lead in the 30th minute with a direct free kick goal.
An own goal by Simon Kjaer in the 39th minute levelled the score at 1-1.
At the end of 90 minutes, the score was still locked at 1-1. Harry Kane scored from a penalty kick in the 14th minute of Extra Time.