The Three Lions produced another lacklustre display in Gelsenkirchen and were on the cusp of their worst-ever major tournament performance under Gareth Southgate when Ivan Schranz slotted in his third goal of the tournament.
However, Jude Bellingham's sensational bicycle rescued England right at the death in normal time, before Harry Kane headed in the quarter-final clinching goal within 54 seconds of added time.
Here, Sports Mole provides player ratings from the Three Lions' nervy triumph at the Veltins-Arena.
England player ratings vs. Slovakia: Declan Rice and Kobbie Mainoo among top performers
GOALKEEPER
Jordan Pickford - 7/10
Could not shoulder much of the blame for Schranz's opener but was calm and composed when England needed him to be when Slovenia piled on the pressure late on.
DEFENCE
Kyle Walker - 5/10
Horrendous start as Lukas Haraslin ran him ragged out wide. Settled as the game went on, but still not his finest.
John Stones - 6/10
Should have done better in the lead-up to Slovakia's first-half strike and was caught dilly-dallying for David Strelec's nearly moment from the halfway line. Accurate with his passing, but again, an improvement would not go amiss.
Marc Guehi - 6/10
Picked up a third-minute suspension-inducing yellow card, although was sold short by Kieran Trippier. Subsequently made a vital block to deny Lukas Haraslin but was burned far too easily for Ivan Schranz's goal. Ended a mixed display with the crucial flick-on for Bellingham's goal. Will miss Switzerland.
Kieran Trippier - 5/10
Was a relatively potent offensive outlet in the first half but was nowhere to be seen when Schranz burst through. Arguably should have shot instead of teeing up an offside Foden early in the second half. Substituted with a quarter of the match left after another injury scare but appeared to be fine as he jogged off.
MIDFIELD
Declan Rice - 8/10
A rock in the England midfield and our man of the match. Seven out of seven accurate long passes, six out of six ground duels won and not afraid to come crashing into a challenge. Continues to justify his £105m price tag.
Kobbie Mainoo - 7/10
Made his first major tournament start for England as Southgate's solitary change and could count himself unlucky to pick up an early booking, but then sparked England's brightest moment of an otherwise dull first half with a mazy dribble. Can certainly take pride from his overall display.
Jude Bellingham - 7/10
A shocking short free kick in the second half nearly led to Strelec scoring from the halfway line, but he made amends with a marvellous last-gasp equaliser. Even before his overhead kick, he looked brighter than in previous games with some delicate dribbles.
ATTACK
Bukayo Saka - 6/10
Tried to make things happen out on the right but was marked closely by David Hancko throughout. Forced to play left-back after affirming that such a switch was not a solution to the injury crisis and did a competent job there too.
Harry Kane - 7/10
Somehow missed a close-range header in the second half, made no mistake with another aerial opportunity in the extra-time period. Captain's contribution when England needed it most, but still lacking his usual X-factor.
Phil Foden - 6/10
Had no reason to run offside for his disallowed goal early in the second half and saw a lot of his deliveries land too close to Martin Dubravka. Operated very centrally again and often left England with no wide threat on the left; a tale as old as time.
SUBSTITUTES
Cole Palmer - 5/10
Provided a few nice deliveries after coming off the bench and saw plenty of the ball, but did not have the same impact as he did against Slovenia. Likely has not forced way into the XI for the quarter-final.
Eberechi Eze - 6/10
A mishit volley into the ground ended up starting the move for Kane's winner, and a couple of slick dribbles as a late substitute as well. Not bad at all.
Ivan Toney - 7/10
Did what he was brought to Germany to do. A deft flick-on for Kane's crucial header and impressed with his quintessential centre-forward play in extra time.
Conor Gallagher - 5/10
Came on for the final 15 minutes to provide some fresh legs but saw very little of the ball.
Ezri Konsa - 5/10
See above. Helped to keep England's defensive structure when under the cosh right at the death.
Slovakia player ratings vs. England: Centre-backs shine despite defeat
GOALKEEPER
Martin Dubravka - 6/10
Impeccable dealing with crosses until Kane's header flew past him. Could he have at least tried to dive for Bellingham's astonishing equaliser? Either way, his punching excellence kept Slovakia in the game for long periods.
DEFENCE
Peter Pekarik - 6/10
Skied a golden chance approaching half time in extra time, but may have been offside anyway. Did not show his age for much of the contest and helped to restrict England's threat down the left.
Denis Vavro - 7/10
Was always on hand to hack away some futile England crosses and did himself proud, but was caught out alongside his teammates for Kane's late header.
Milan Skriniar - 7/10
Similarly, led the Slovakian defensive resistance with a raft of clearances and had good positioning for the most part.
David Hancko - 7/10
Barring one moment where Saka bypassed him with ease, did a number on the Arsenal man until his switch to left-back and can also take the positives from his display.
MIDFIELD
Juraj Kucka - 6/10
Beat Guehi in the air to help the attack along for Schranz's goal, but how he was not sent off was anybody's guess. Two yellow-card offences after already being booked, but his fouls certainly helped to stifle England's flow.
Stanislav Lobotka - 7/10
Slovakia's midfield fulcrum was here, there and everywhere throughout the contest and pinged a few gorgeous long balls to his teammates in another competent display.
Ondrej Duda - 8/10
The true definition of a tough-tackling performance. Stepped in with a number of crucial challenges, blocks and interceptions before his number went up in the dying embers.
ATTACK
Ivan Schranz - 7/10
Now the joint-top scorer at the Euros alongside Georges Mikautadze and Jamal Musiala. Took his finish with panache but faded in the second period when England upped the ante.
David Strelec - 7/10
Lovely centre-forward play to wait for the run of Schranz and lay off the winger, before nearly scoring with a sensational effort from the half-way line after a horrendous England free kick. Came off just after the hour.
Lukas Haraslin - 7/10
Had the beating of Kyle Walker during the early exchanges - not many wingers can boast that - and was a constant threat during the first half. Substituted early in the second as Calzona sought fresh legs but did himself proud.
SUBSTITUTES
Robert Bozenik - 5/10
Tried to provide a much-needed presence up top after coming on, but could only fire one shot off target in an ineffective cameo.
Tomas Suslov - 6/10
Created a couple of chances from the left flank following his introduction and was a tricky force to deal with, but nothing that could help change the course of the game.
Matus Bero - 5/10
Replaced the experienced Kucka in the final 10 minutes of the normal time but was largely anonymous.
Laszlo Benes - 6/10
Fizzed a delicious ball into Peter Pekarik - who may have been offside - in extra time and was at the heart of Slovakia's unsuccessful fightback efforts.
Norbert Gyomber - 6/10
Came on for the extra-time period and was a composed influence in the middle of the pitch.
Lubomir Tupta - N/A
A late introduction in extra time but had no impact on proceedings.