Australia recovered from falling behind inside seven minutes before showing great resolve to get back into the contest before half-time as Captain Mile Jedinak scored the equalizer through a spot kick.
Australia dominated the second-half as they pushed for the winner that would blow Group C wide open but were unable to make their chances count.
It means Australia will need to win their final match against Peru next week and hope other results go their way if they are to progress to the knockout phase.
The match started in dramatic fashion with the Danes, taking an early lead through their superstar Christian Eriksen.
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