Skipper Kane bundled home the rebound after his weak extra-time penalty had been saved.
But England held out for a 2-1 victory, much to the delight of jubilant supporters, including the Duke of Cambridge, David Beckham and Boris Johnson at Wembley.
Fans at the Vinegar Yard in London Bridge celebrate the England semi-final win (Kieran Cleeves/PA)
It was a night of mixed emotions for home fans, after Denmark took an unlikely lead only to concede an own goal equaliser 10 minutes later.
England fans outnumbered their Danish counterparts by six-to-one inside Wembley due to coronavirus-related travel restrictions.
So it was little surprise the majority of the 60,000 supporters roared as players embraced at the end of a gruelling extra-time period.
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