Harry Kane also headed the ball against the crossbar at the Stadion HNK Rijeka as his scoreless run in a Three Lions top reached six matches.
Relive how the 90 minutes of action unfolded with Sports Mole's live text coverage below.
STARTING XI: Pickford; Walker, Stones, Maguire, Chilwell; Dier, Henderson, Barkley; Sterling, Kane, Rashford
SUBS: Trippier, Butland, Alexander-Arnold, Dunk, Winks, Chalobah, Mount, Maddison, Bettinelli, Sancho
STARTING XI: Livakovic; Jedvaj, Vida, Lovren, Pivaric; Kovacic, Rakitic; Perisic, Modric, Rebic; Kramaric
SUBS: Badelj, Bartolec, Bradaric, Livaja, Milic, Mitrovic, Pasalic, Pjaca, Rog, Santini, Sluga
Zlatko Dalic: "I would agree with Luka that we felt a little underestimated by the English media [ahead of the World Cup semi-final match], not the head coach or the players. There's always a level of respect between the teams. You always need to respect your opponent but also have a self-belief in your team and your possibilities."
Gareth Southgate: "It is a shame for our travelling fans who were brilliant for us all summer and so many of whom have not missed an England game for years. So that is unfortunate for them in particular. It means Croatia don't get the energy that a home support can give you in those moments when you are under pressure as a team. So it will be different definitely. Whether it is an advantage, who knows?"
CROATIA SUBS: Badelj, Bartolec, Bradaric, Livaja, Milic, Mitrovic, Pasalic, Pjaca, Rog, Santini, Sluga
ENGLAND SUBS: Trippier, Butland, Alexander-Arnold, Dunk, Winks, Chalobah, Mount, Maddison, Bettinelli, Sancho