The victory, secured by captain David Platt's early first-half goal, not only gave England's eighth manager the perfect start but also patched up the side's credibility and had a packed Wembley Stadium buzzing with optimism.
Venables unveiled an attacking style Wednesday and England rediscovered a confidence lost under former manager Graham Taylor during a failed campaign to reach the World Cup finals .
Platt, England's leading scorer, started off the new era with his 21st international goal after just 17 minutes.
A rare Danish attack broke down in England's penalty area, debutante Graeme Le Saux moved the ball out to Blackburn club mate Alan Shearer on the left, where he slipped inside his defender and rolled the ball to Platt's feet.
The Sampdoria midfielder collected the pass and, despite the close attention of Chelsea defender Jacob Kjeldbjerg, fired an angled shot into the net.
A fluid England side threatened with nearly every attack, benefiting from the incisive passing of Beardsley and Platt and enjoying the additional option of debutante winger Darren Anderton, who almost marked his debut with a goal, but Marc Rieper denied him with a goal-line clearance in the 57th minute.
A minute later David Seaman pulled off a superb save as Brian Laudrup fired from point-blank range after being put through by his brother, Michael.
But in general Denmark struggled to win enough ball in midfield to mount attacks and only occasionally troubled an England defense resolutely marshalled by Tony Adams.
After his dream start Venables said: "It was a new era and it was a very promising start, but Germany next month will be a real test.
"I am particularly pleased that we had a win for the crowd and television fans. That was important. And I was pleased with the amount of chances we made. But we needed a second goal to relax."
In Cardiff meanwhile, a second European friendly international saw Norway underline its growing confidence ahead of the World Cup finals with a 3-1 defeat of Wales, playing their first match under John Toshack.
Toshack's young side, featuring two new caps, was no match for Norway.
Jostein Flo fired home from outside the penalty area in the sixth minute, Erik Mykland, made it two four minutes after half-time and Jahn-Ivar Jakobsen added a third in the 51st minute. Wales managed a late consolation header by Chris Coleman.
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