The Lionesses saw off Germany side, who have won the tournament eight times, shaking off the long-standing hoodoo they'd held on with a 2-1 victory after extra-time.
Chloe Kelly was the hero as she poked the ball into the net after Lina Magull cancelled out Ella Toone's opener.
Out of the 27 meetings between the sides in 38 years, England had lost the ties between the countries 21 times - winning just twice and drawing the remaining four - including the Euro 2009 final defeat.
But when it mattered most on Sunday which saw the Lionesses take the stage in front of a record breaking crowd of 87,192 - the highest of any men's or women's European Championship game - Sarina Wiegman's side shook their old foes off.
After a scrappy and fiery first half in which England striker Ellen White failed to convert from close range from a header, the deadlock was finally broken on 62 minutes.
Supersub Toone raced onto a brilliant through ball over the top by Kiera Walsh before showing great composure to lift her effort delicately over the head of the onrushing Merle Frohms to make it 1-0.
"What a supersub Toone has been. It was the first time I feel like England were able to break," former England striker Lianne Sanderson and talkSPORT co-commentator said.
Germany - who were dealt a blow in losing the tournament's joint top scorer Alexandra Popp in the warm up due to injury, soon cancelled out Toone's effort - though.
Sydney Lohmann found Tabea Wassmuth inside the box, who wasn't closed down quickly enough before she fired over a low cross. Lina Magull then made the run across Millie Bright to finish well at the near post.
"You can never write Germany off," talkSPORT co-commentator Sam Matterface said.
Despite pressure from both sides, the game ticked over into extra time, with Germany having the better of the chances as 100 minutes appeared on the clock.
But then, England sprung into life.
A delicious corner from Lauren Hemp resulted in a scramble in the box, with Jill Scott trying to edge her way.
And then the hero of the hour, substitute Chloe Kelly - who had never scored an international goal - pounced, swinging her foot and rolling the ball past the shell-shocked German to put England 2-1 up and send Wembley wild.
England's first European Championship win epitomises what a ground breaking tournament this has been for women's football, with the Lionesses proving they more than deserve recognition.
"The dinosaurs will be left behind," Sanderson said on the growth of women's football in this country as the game drew to a close.
"This is where it's at."
After catching her breath after the celebrations, match winner Kelly - who had only come back from an ACL injury in the spring - said: "Oh my God. It's amazing, look at them! It's amazing, honestly.
"Thankyou to every single person who has come out to support us. This is unreal.
"This is what dreams are made of. As a young girl watching football, and now this. Wow, it's unbelievable.
"Thankyou to everyone that played a part in my rehab. I always believed that I'd be here, but to be here as a winner, wow. These girls are special. It's a special group of staff. This is amazing."
England's Euro win marks Sarina Wiegman's second of her managerial career after winning it with the Netherlands in 2017.
When asked what makes her team so special, Wiegman said: "Do you have half an hour?
"If you really want to win, if you really want to get better every single day then my job is easy. It's incredible. We agreed on a couple of things to do with behaviour and we lived this.
"The game was so tight with Germany, but who cares? We won 2-1 and we're European champions."