The European champions looked to be heading towards the trophy as they led 1-0 in stoppage time but poor handling from goalkeeper Mary Earps gifted Andressa an easy goal.

Prior to the closing ten minutes, Pia Sundhage's side had scarcely threatened the hosts' defence.

Ella Toone opened the scoring after 23 minutes as she capped off a wonderful team move.

England rapidly went from left to right before a one-two between Lucy Bronze and Georgia Stanway allowed the Barcelona star to surge into the box and pull it back for Toone to slot home from 10 yards.

A fairly uneventful period came to a halt in the 92^nd minute when Brazil were awarded a free-kick in the England half.

The ball came in and was initially cleared but a second cross was fumbled by Earps before 2015 Pan American Games champion Andressa slotted it into the roof of the net to force penalties.

The shoot-out began with Stanway and Adriana each finding the net.

A reverse in fortunes then saw both Toone and Tamires fluff their lines, with the latter being denied by virtue of a stunning save from Earps.

Daly gave England the advantage with a calm strike into the bottom left corner before Rafaelle Souza rattled the crossbar as Brazil missed for a second time.

Goals from Alex Greenwood and Kerolin followed before Chloe Kelly dispatched the deciding spot kick to spark jubilant celebrations.

Copa América Femenina champions Brazil enjoyed just 29 per cent of possession and managed four shots on target. 

They were set up very defensively with a flat back five in a 5-3-2 formation and only really stood a chance of victory via the penalty shoot-out.

England are set to host Australia at the Brentford Community Stadium in London next week before beginning their World Cup campaign against Haiti in Brisbane, Australia, on July 22.

The win now takes Sarina Wiegman's managerial record with England to 26 wins and four draws from 30 games.