Malcom's 83rd-minute strike looked to be sealing all three points for Barcelona, but Icardi came up with a leveller four minutes later to ensure that the points would be shared.
The result has seen Barcelona remain top of Group B on 10 points, with Inter second on seven points with two group matches left to play.
Read how it all unfolded in Sports Mole's minute-by-minute live commentary of the action below.
INTER MILAN (4-2-3-1): Handanovic; Vrsaljko, De Vrij, Skriniar, Asamoah; Vecino, Brozovic; Politano, Nainggolan, Perisic; Icardi
BARCELONA (4-3-3): Ter Stegen; Roberto, Pique, Lenglet, Alba; Arthur, Busquets; Rakitic; Dembele, Suarez, Coutinho