The Sunderland man, taking part in his 100th game for the Boys in Green, netted the equaliser in the 94th minute to cap off a memorable night against the world champions.
O'Shea told reporters after the game: "It was a very special moment. We have a fantastic spirit, we didn't want to come off having lost with people thinking we just did okay.
"At half time the manager said if we do go behind we will get the chances. When Wes Hoolahan came on we played some fantastic passes.
"What a special night, thankfully I was able to play my part at the end."
The result means that Martin O'Neill's side are now second in Group D, with Germany in third.