The Three Lions were stunned in the first half when Mikkel Damsgaard netted a long-range free kick to send the Danes into delirium, but Simon Kjaer scored an own goal just before half time to draw England level.
Gareth Southgate's men were dominant throughout but the game went to extra time after missing a string of opportunities - with Harry Kane slotting home the winner from the spot after Sterling had been clipped in the area, sending the 60,000 strong crowd into ecstasy.
Sportsmail's SAMI MOKBEL provides player ratings for both players from an action-packed an momentous evening at Wembley.
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England are in the Euro 2020 final after a tense 2-1 win over Denmark at Wembley Stadium
A nervy start to the game but kept his head together despite conceding England’s first goal of the Euros. 7.5
Was involved in fascinating battle with Maehle in which the England right-back gave as good as he got. 7.5
A colossal performance in the heart of England’s defence. Kept a cool head in the heat of battle and stood up to everything. 8
The Manchester United captain had his hands full as Denmark’s front three posed a very dangerous threat but was super human. Booked. 8.5Insurance Loans Mortgage Attorney Credit Lawyer
Harry Maguire stood strong in the heart of England's defence and put in a super human display
Grew in stature during the game following a tentative start. Has been one fo the success stories of the tournament. 7.5
His toughest test of the Euros but he took it in his stride. A disciplined and mature performance from the midfielder. 7
His athleticism and energy has been a feature of England’s tournament and once more the Leeds man covered every blade of grass. 8
Kalvin Phillips shone again for England with his athleticism and covered every blade of grass
What more can we say about this kid? Unlocked the Danes at a crucial time after England fell behind. 7.5
Oozed confidence in possession and diligently completed his defensive