Christine Sinclair missed a chance to become the first player to score at six Fifa World Cups as Canada were held by Nigeria.
Nigeria keeper Chiamaka Nnadozie kept out Sinclair’s spot-kick early in the second half as the Olympic champions were frustrated in Melbourne.
Deborah Abiodun was sent off late on for Nigeria, however, they earned a point with a battling display.
Canada and Nigeria have one point in Group B, behind co-hosts Australia.
The Canadians face the Republic of Ireland in their next game on 26 July, after the Irish were beaten by Australia on Thursday.
Their captain Sinclair went into this game aiming to make some personal history. The 40-year-old forward was making her 324th international appearance and has scored 190 goals for her country.
She is one of three players to score at five Fifa World Cups – alongside Marta and Cristiano Ronaldo – and seemed destined to make history when she was fouled inside the area by Francisca Ordega early in the second half.
Referee Lina Lehtovaara awarded the penalty after the video assistant referee intervened, however, Sinclair’s effort was weak and well saved by impressive Nigerian keeper Nnadozie.