Kane's first goal of the summer competition had sent England ahead in the 18th minute, but a stunner from Morten Hjulmand saw the points shared in the Group C contest.
The result has left Gareth Southgate's side top of the section, two points ahead of both second-placed Denmark and third-placed Slovenia.
England have not yet qualified for the last-16 stage of the European Championship, but they are in a very strong position ahead of their final match against Slovenia on Tuesday night.
Here, Sports Mole provides an in-depth analysis of the clash in Stuttgart, in addition to highlights, our man of the match and the best statistics.
HIGHLIGHTS
1st min: Half-chance for Denmark in the early exchanges, but Pierre-Emile Hojbjerg fires straight into the arms of England goalkeeper Jordan Pickford after smart work from Rasmus Hojlund.
13th min: Phil Foden works his way into a shooting position inside the Denmark box, but he just lifts his effort over the crossbar.
18th min: England make the breakthrough in the 18th minute, with Kane sliding the ball into the bottom corner from close range after a mistake from Victor Kristiansen, who had allowed Walker to break into the Denmark box, and the defender's cross eventually came for Kane.
34th min: Denmark level the scores in the 34th minute of the contest, and it is a stunning hit from Morten Hjulmand, who finds the bottom corner with an effort off the inside of the post; Pickford dived towards the bottom corner but was unable to make contact.
44th min: Pickford has to keep out a powerful strike from Hojbjerg, with Denmark threatening to score a second in the closing stages of the first period.
45th min: Foden finds space outside the Denmark box late in the first period, but the attacker's effort was always rising over the crossbar.
HALF TIME: DENMARK 1-1 ENGLAND
51st min: Declan Rice tries his luck from outside the penalty box, but Kasper Schmeichel manages to make a comfortable save to keep the score level.
53rd min: Bukayo Saka heads into the side-netting after beating Schmeichel to a bouncing ball, with England having their second sight of the Denmark goal.
56th min: Foden hits one off the post for England after finding space outside the Denmark box; much better from the Manchester City attacker.
72nd min: Schmeichel is on hand to make a brilliant save to deny Ollie Watkins from close range, with the Aston Villa striker making an immediate impact.
73rd min: Pickford has to get down to keep out a strike from Hojbjerg, with both sides having their moments during a well-contested second period in Frankfurt.
84th min: Alexander Bah sees his cross deflected behind by Marc Guehi after taking the ball away from the Englishman, before Andreas Christensen heads the resulting corner over the crossbar.
85th min: Hojbjerg sees a brilliant strike drift just wide of the England goal.
FULL TIME: DENMARK 1-1 ENGLAND
MAN OF THE MATCH - PIERRE-EMILE HOJBJERG
Hojbjerg was the star of the show on Thursday evening, with the Tottenham midfielder putting in a brilliant performance in the middle of the Denmark midfield.
The 28-year-old had five shots in total, with at least two of those coming close to registering, while he made six tackles and ended with a pass completion rate of 89%, according to WhoScored.
There were certainly more glamorous players on the field, but Hojbjerg continued to go about his work impressively, and it was a standout performance from the midfielder.
STANDOUT MOMENT
This is not a difficult one.
Denmark's equaliser was a stunning hit from Morten Hjulmand, with the midfielder taking a touch out of his feet before drilling a sensational effort into the bottom corner.
England would not have been too concerned when he lined the ball up from that position, but the 24-year-old demonstrated why he is being tracked by a number of major clubs.
Sporting Lisbon will do well to keep hold of the central midfielder this summer.
BEST STATS
MATCH STATS
Possession: Denmark 46%-54% England
Shots: Denmark 16-11 England
Shots on target: Denmark 7-4 England
Corners: Denmark 4-2 England
Fouls: Denmark 13-5 England
LINEUPS
DENMARK (3-5-2): Schmeichel; Andersen, Christensen, Vestergaard; Maehle, Hjulmand (Norgaard 82'), Eriksen (Olsen 82'), Hojbjerg, Kristiansen (Bah 57'); Wind (Damsgaard 57'), Hojlund (Poulsen 67')
ENGLAND (4-2-3-1): Pickford; Walker, Stones, Guehi, Trippier; Alexander-Arnold (Gallagher 54'), Rice; Saka (Eze 69'), Bellingham, Foden (Bowen 69'); Kane (Watkins 69')