Second-half goals from Ilke Gundogan and Kai Havertz set Germany on their way to victory at Wembley, but Luke Shaw and Mason Mount leveled the score within five minutes.
VAR then awarded a penalty to England, which was converted by Harry Kane to give the home team a brief lead, before Havertz scored his second of the night to go to the final score.
Shaw's goal broke a 565-minute open-game drought for Gareth Southgate's side, who were relegated to the second leg of the competition after last week's loss in Italy.
As Espn website's information Germany have another pre-World Cup friendly against Oman on 16 November, before their first game against Japan on 23 November.