Denmark started the friendly on the front foot but found themselves a goal behind against the run of play when former Sunderland striker Jozy Altidore scored the opening goal of the game after 19 minutes at NRGi Park.
Altidore, who joined Toronto FC in January as part of the deal that saw Jermain Defore return to England, stroked home Timmy Chandler's cross to open the scoring.
But the Danes were soon level through former Gunners attacker Bendtner's first goal on 33 minutes. The Wolfsburg forward found himself a lot of space in the six-yard box after the US defence failed to deal with Lasse Vibe's pass before sweeping home.
Former Aarhus ace Aron Johannsson restored Jurgen Klinsmann's side's lead - once more against the run of play - after 66 minutes when the AZ forward pounced on the ball in the box after Altidore's unselfish pass.
As the Danes looked to be heading towards a home defeat, Bendtner grabbed his second goal of the day to draw the hosts level for the second time in the 84th minute.
And the game was finally won in the injury-time with the pick of the goals. Christian Eriksen played a diagonal pass through to Bendtner, who with a one-touch control, brought the ball down before firing the ball into the bottom corner.
The game also saw Tottenham's Eriksen becoming the youngest Dane to win 50 international caps.
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