The hosts made a strong start and dominated the early stages, with their pressure rewarded in the 32nd minute when Asisat Oshoala calmly converted from the penalty spot to give Super Falcons the lead.
They doubled their advantage just before half-time, as Toni Payne finished clinically after being set up by a superb pass from right-back Shukurat Oladipo.
Captain Rasheedat Ajibade also came close to extending the lead before the break but was denied by the Senegal goalkeeper.
After the restart, the tempo slowed as head coach Justine Madugu introduced several changes to the Nigerian side.
Oshoala and Folashade Ijamilusi both had chances to add a third goal, but were unable to convert.
Senegal pulled one back in the 86th minute through Sokhna Nogaye’s long-range effort, but Nigeria held firm to secure a deserved win.
Both sides will meet again in a second friendly on Monday at the same venue.