In Breda, Sweden picked up their first point in 12 competitive encounters with Germany, who have by now won the European title six times in a row and eight times overall.
In a reprise of the Olympic final from Rio, Germany kept Sweden under pressure in an uneventful first half but they failed to create scoring chances against solid defence.
Their dominance continued in the second half, with substitute Mandy Islacker the biggest threat for the Swedish goal.
In the 65th minute, she flicked a low cross from Carolin Simon just past the post.
Sweden then demonstrated their strength on the counter-attack but Stina Blackstenius failed to deliver following a superb run as her weak shot was blocked by keeper Almuth Schult who also stopped Lotta Schelin's breakaway effort two minutes later.
Seven minutes before the end, Islacker flicked a low pass from captain Dzsenifer Marozsan under the crossbar, but Chelsea keeper Hedvig Lindahl cleared the ball over the bar.
"In the first half we had a little bit too much respect for Sweden but we can be happy with the second half," said Marozsan, an Olympique Lyon midfielder.
Sweden coach Pia Sundhage said she was happy with the result and "especially the way we defended”. "It was a good start into this tournament, for us it has been crucial to get a good start."
Earlier in Rotterdam, first-half goals from Elena Danilova and Elena Morozova handed Russia a surprise 2-1 win over Italy.
Russia were avenging three 2-0 defeats from Italy at previous Euro tournaments, as well as a 3-0 loss in a friendly last December.
"We were too deep," Italian defender Elena Linari told UEFA's website. "They were able to get players in whenever they wanted to."
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