Though the Danes struck after just seven minutes, the Socceroos grew into the game and benefited from the VAR as Mile Jedinak pulled them level from the spot.
Australia looked more likely of scoring in what turned out to be a goalless second half, with coach Bert van Marwijk adamant Denmark were left scared by the Socceroos.
"They were afraid of us," van Marwijk said.
"Especially in the second half we were not lucky.
"The first part of the game we were not convinced that you could easily play against them, but after 15-20 minutes they saw the solution and you see from that moment we controlled the game."
"After two games, we should have had four points," he said.
"We deserved it. We played very well against a number 12 of the world.
"I cannot blame them (the players), they gave everything. We deserved to win."