Anja Mittag netted the only goal of the game early in the second half. In an extraordinary match, the Germans held on as Norway conspired to miss two penalties and have a goal disallowed for offside.
Norway had beaten Germany earlier in the competition and started with intent to break the curse that had seen them lose three previous European finals to their rivals.
The underdogs from Scandinavia bossed the contest for long periods and were awarded a penalty on the half-hour mark. Trine Rønning struck her spot-kick straight down the middle with German goalkeeper Nadine Angerer making the save with her leg despite going the wrong way.
Norway again went close on the stroke of half-time only for Leonie Maier to deny Ingvild Stensland with an immaculate tackle.
German manager Silvia Neid made a change during the interval bringing on Anja Mittag for Lena Lotzen. Her impact would be immediate.
Germany punished their opponents with a swift counter attacking move just after the break. A neat interchange of passes involving Okoyino Da Mbabi who threaded the ball through to substitute Mittag who slotted home from close range.
The holders showed why they had only conceded one goal in the entire tournament by shutting out Norway. However, they conceded another penalty on the hour mark when Saskia Bartusiak fouled Caroline Hansen in the box.
Incredibly, Solveig Gulbrandsen missed her penalty also with a weak attempt that was palmed away by German captain Angerer.
Minutes later Norway had a goal ruled out for Ada Hegerberg, who put the ball in the net at the back post, albeit from an offside position.
Norway's confidence began to drop and they almost conceded a second when Nadine Kessler struck the butt of the post with just minutes remaining.
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Germany wound down the clock to win their eighth European Championship title from eleven attempts. Four of those wins have come against Norway in the final.
Goalkeeping hero Nadine Angerer claimed the player of the match while her team-mates lifted the trophy yet again.