Rasmus Hojlund, Anders Dreyer and Mathias Jensen all missed from the spot as Denmark agonisingly missed out on World Cup qualification in a 3-1 penalty shoot-out loss to Czechia, having drawn 2-2 after extra time.

Denmark recovered from a goal down in both regulation time and the additional period, but those wayward spot-kicks allowed Czechia to claim glory, reaching their first World Cup since 2006.

Miroslav Koubek's team, who also defeated the Republic of Ireland on penalties in their play-off semi-final, will now go into Group A alongside Mexico, South Korea and South Africa. 

Czechia could hardly have asked for a better start as they scored from their first attack in the third minute. Vladimir Coufal's corner was only partially cleared as far as Pavel Sulc, and the Lyon attacker sent a scorching volley into the top-right corner from near the edge of the area.

Gustav Isaksen's free-kick drew a full-stretch save from Matej Kovar as Denmark dominated possession and hunted an equaliser, though Czechia almost grabbed a second goal on the counter as Mads Hermansen pushed Lukas Provod's effort wide.

Denmark struggled to carve out clear-cut chances throughout the second half, though two Premier League players combined for their 72nd-minute equaliser as Joachim Andersen headed Mikkel Damsgaard's free-kick home.  

Hojlund passed up a good chance to win it for Denmark without the need for extra time, and they fell behind again 10 minutes into the additional period, as Czechia captain Ladislav Krejci saw his shot deflect in off Alexander Bah, following a scramble caused by Coufal's long throw.

Denmark refused to go away quietly, though, and Bodo/Glimt star Kasper Hogh ensured penalties would be required when he glanced Dreyer's corner past Kovar.

The shoot-out started dismally for the Danes as Hojlund powered against the crossbar, with Dreyer then being denied by Kovar from their second kick. 

Krejci's poor effort – which was comfortably repelled by Hermansen – looked to have let the visitors back in, but Brentford midfielder Jensen then sent his kick spiralling over.

That allowed Michal Sadilek, who had come on to replace Sulc in the closing stages of extra time, to win it for the hosts.

Data Debrief: Czechia maintain perfect penalty record

Denmark were minutes away from automatic qualification for the World Cup back in November, only for sensational stoppage-time strikes from Kieran Tierney and Kenny McLean to send Scotland through from Group C at their expense.

And Brian Riemer's team let another chance pass them by on Tuesday, with Denmark now destined to watch a World Cup from home, for the third time in the last eight editions.

Czechia, meanwhile, will participate for just the second time as an independent nation, having previously gone out in the group stage in Germany in 2006. They participated on eight occasions as Czechoslovakia, finishing as runners-up twice (in 1934 and 1962).

The hosts had to ride their luck at times in Prague, with Denmark attempting 22 shots (eight on target) to Czechia's nine (four on target), with the visitors also racking up 1.73 expected goals (xG) to the hosts' 1.25.

But Koubek's men took their chances when they came and, having dramatically won on penalties twice in these play-offs, Czechia have now won all three of their shoot-outs as an independent nation (also coming out on top versus France at Euro 1996).

That proud shoot-out record actually dates back even further, as Czechoslovakia won their only two shoot-outs, at Euro 1976 (versus West Germany in the final) and Euro 1980 (against Italy in the third-place play-off). The first of those saw Antonín Panenka famously chip Sepp Maier to win the trophy for his country.