Jedinak, however, got Australia back into the game with his second penalty in Russian Federation, awarded following the intervention of the VAR, and the draw kept the Socceroos just about alive in the tournament.
Australia suffered a narrow 2-1 defeat to France last time out and coach Bert Van Marwijk is expecting another tough challenge.
Having clawed their way back into the game, Australia seemed imbued with a renewed sense of belief, surging forward in numbers whenever they could and roared on by the vast array of green and gold clad fans in the Samara Arena.
Both teams hopes of advancing will be settled in the final round of Group C matches, when Australia take on Peru and Denmark meet France.
"I think it's like back in the good old days. The next game is another game, but it gives us confidence", he said.
Jedinak's goal cancelled out Christian Eriksen's early score, the Danish playmaker firing home from the edge of the area in the seventh minute after latching on to a ball from Nicolai Jorgensen. But on the 36th minute Australia equalised via the penalty spot with Aston Villa midfielder sending Kasper Schmeichel the wrong way.
With so much on the line, much has been made of just how Australia will look to shackle the creativity of Eriksen, who netted a hat-trick as Denmark beat the Republic of Ireland 5-1 in their qualifying play-off second leg in Dublin.
Australia began the second half in bright style but were nearly behind again after 51 minutes when neat build-up play resulted in a chance for Sisto, whose snap-shot went wide. The last part of the puzzle is that we must make the difference by scoring one goal more than the opponent.
Rogic was the next player to try his luck, a curling effort saved by Schmeichel, and at the other end Sisto found space but bent his shot wide before Australia were forced into another change when Andrew Nabbout suffered a shoulder injury and was replaced by Tomi Juric.
Mathew Leckie had a wonderful chance to head Australia into the lead just three minutes later when a Aaron Mooy corner found the number seven, but he planted the ball over the crossbar. The Socceroos have everything to play for in their next match against Peru.
Victory also secured France's spot in the tournament's next stage.