The Czech Republic qualified for the World Cup for the first time in 20 years by beating Denmark on penalties in the play-off final in Prague.

Denmark were undone by a dire display in the shootout, as they missed the target with two spot-kicks and had another saved.

Rasmus Hojlund, the striker on loan at Napoli from Manchester United, was among those to miss for the Danes, hitting the bar with his attempt.

Christian Eriksen was the lone Denmark player to convert a penalty, while Tomas Chory, Tomas Soucek and Michal Sadilek scored for the Czech Republic. Ladislav Krejci was the only player to miss for the hosts.

Pavel Sulc had earlier given the hosts a third-minute lead with a thumping strike, rifling into the back of the net from the edge of the area after a corner was headed partly away.

The opener set the tone for an exciting game, with chances at each end throughout the first half.

Denmark searched for an equaliser, stretching the Czech Republic with numbers and working good passes to striker Hojlund, while the hosts continued to press in the final third.

However, after the break, the game went in a completely different direction as the Czech Republic were forced to sit back and face constant waves of attacks.

Denmark's persistence eventually paid dividends as Joachim Andersen equalised by heading home a Mikkel Damsgaard free-kick.

To their credit, the Czech Republic set up well to stymie Denmark's attempts, remaining compact and covering spaces to try to keep their opponents out.

Having kept energy in reserve, the Czechs were much improved once extra time began and got back in front as Krejci sent an effort in off the boot of Denmark defender Alexander Bah.

Denmark levelled in the 111th minute as substitute Kasper Hogh glanced a header into the top corner, only to flounder when it came to spot-kicks.

The result means the Czech Republic are heading to the World Cup, having last appeared on the global stage in 2006, while Denmark will be absent for the first time since the 2014 tournament.