Tied at 8-8 going into the final day, late triumphs in the singles matches secured a dramatic victory for the Europeans.
"I've been in agony all day," said Nicholas. "The players have had such heart and passion and purpose. I hand it all to them. They've been unbelievable."
"They were so up for it and they believed in themselves. They just fought to the end. The rookies have done fantastic. The experienced players have done really well as well. It's just been a real team effort."
The victory at Killeen Castle in Ireland marked the first time Europe had won the trophy in six years.