The City striker, who played for 84 minutes before making way, had made what looked like the all-important breakthrough for his country when converting from the spot on 61 minutes.
The penalty had been awarded after a VAR check adjudged that Haaland had been fouled in the box by Ryan Porteous.
And when the 22-year-old fired the resulting spot kick past Scotland keeper Angus Gunn from 12 yards it sparked scenes of celebration in the Norwegian capital.
With Haaland then being taken off with six minutes left, it looked as though his contribution would prove decisive.
Instead, group leaders Scotland turned the game on its head by scoring twice inside the last three minutes to maintain their perfect record in the group.
First, Lyndon Dykes struck an equaliser on 87 minutes after John McGinn had driven forward before feeding the Queens Park Rangers striker who stabbed the ball home from close range.
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And with full time beckoning, substitute Kenny McLean then completed a stunning turnaround for the Scots, curling in a superb finish from inside the box via Dykes’ assist.
The result leaves Scotland still top of the table with nine points from three games while Norway are in fifth with just one point to date.
Haaland and Norway are next in action on Tuesday when they play host to Cyprus, kick-off 19.45 (UK).
