Alex Greenwood, Lauren Hemp and Chloe Kelly all featured in the closely fought and eventful 120 minutes, which ended goalless - forcing spot kicks.
And it was there where the Lionesses maintained their sparkling 100% record in the tournament so far in Australia and New Zealand to advance into the quarter-finals.
Chances were few and far between in the opening stages, but it was the African nation who almost broke the deadlock on 18 minutes when Ashleigh Plumptre unleashed a thunderous effort that cannoned off the crossbar.
That ignited a spell of Nigeria pressure as Mary Earps was called into action shortly after when she magnificently dived to her right and palm a stinging effort away from goal.
After weathering the storm, the reigning European champions started to break Randy Waldrum’s side down and were awarded a penalty with 15 minutes of the first half remaining when Rachel Daly went down under Rasheedat Ajibade’s challenge.
However, after a lengthy VAR review, the decision was overturned with no infringement spotted.
Having scored eight goals across their three group games, England’s next at the World Cup evaded them in the first half as the scoreline remained goalless at the interval.
The Lionesses had also only conceded once at the 2023 World Cup, but they survived another scare shortly after the restart when Nigeria’s Uchenna Kanu saw her looping header rebound off the crossbar after she met an inviting in-swinging cross.
Sarina Wiegman’s side were slightly off-colour as their opponents continued to press but, against the run of play, Daly almost scored the game’s first goal when she saw her powerful, goalbound header superbly saved by Chiamaka Nnadozie with 15 minutes remaining.
But England’s task was then made harder on the cusp of full-time when Lauren James was sent off for stepping on Michelle Alozie after a free-kick went against the Chelsea maestro.
That proved to be final act of the regulation period as the eventful tie entered extra-time.
The additional 30 minutes followed the same pattern of the 90 that preceded it, with the Lionesses defending valiantly as Greenwood marshalled the backline immensely.
Both managers then turned to their benches to help aid their chances of scoring the precious opener, but neither side could find the goal they craved which sent the fixture to penalties.
Bethany England, Daly, Greenwood and Kelly all scored from 12-yards, while Nigeria scored only twice, to progress into the quarter-finals of the World Cup.
