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The full time and extra times ended with the score 1-1. Denmark went ahead after 57 seconds when Mathias Jorgensen, but Mario Mandzukic had the Croats back on terms just after three minutes.
Croatia’s Luka Modric had the chance to send his team into a quarter-final against hosts Russia with a penalty four minutes from the end of extra time but Danish goalkeeper Kasper Schmeichel dived to his left to save the spot kick.
Croatia won the penalty shootout with the score 3-2. Croatia will face Russia in quarterfinals.