The midfielder was back in Denmark's squad for the first time since suffering a cardiac arrest at Euro 2020 and made an instant impact after being brought on at half-time.
Eriksen's well-taken goal, coming at the ground where he made a name for himself with Ajax, got Denmark back into the game after the hosts opened up a 3-1 lead at the break.
Steven Bergwijn and Nathan Ake netted either side of Jannik Vestergaard's leveller before Memphis Depay converted a penalty, with Bergwijn rounding things off after Eriksen's strike.
The Netherlands had already tested Kasper Schmeichel three times before Bergwijn met Daley Blind's left-sided cross and headed in a 16th-minute opener.