Gareth Southgate has otherwise named an unchanged side from that which beat Ukraine 4-0 in Rome in Saturday's quarter-final.
The England manager has resisted the temptation to match Denmark's 3-4-3 system, as he did to nullify Germany in the last-16 victory.
Sancho can count himself unfortunate to have missed out on a place after an eye-catching display at the Stadio Olimpico but Saka impressed against the Czech Republic and Germany before suffering a minor injury in training.
Luke Shaw keeps his place at left-back after impressing agaisnt Ukraine, while Harry Kane and Raheem Sterling will look to add to their three goals each at this tournament.
England: Pickford; Walker, Stones, Maguire, Shaw; Phillips, Rice, Mount; Saka, Kane, Sterling.
Substitutes: Ramsdale, Johnstone, Grealish, Henderson, Rashford, Trippier, Mings, Coady, Sancho, Foden, James, Bellingham.
Denmark: Schmeichel; Christensen, Kjaer, Vestergaard; Maehle, Delaney, Hojbjerg, Stryger; Braithwaite, Dolberg, Damsgaard.
Substitutes: Lossl, Ronnow, Andersen, Skov, Skov Olsen, Jorgensen, Norgaard, Wass, Wind, Poulsen, Cornelius, Jensen.
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