Jean-Philippe Mateta finished last season in superb form, scoring two goals to rescue a late draw for Crystal Palace and deny Leicester their first Premier League win.

Striker Jamie Vardy, 37, scored his second goal of the season for Leicester and gave Steve Cooper confidence that they can disprove predictions of an instant return to the Championship. Vardy and Stephy Mavididi exploited Palace’s porous defence before Mateta almost immediately reduced the deficit after a VAR check showed the striker was not offside.

Oliver Glasner’s team appeared to be running out of ideas but they were awarded a last-minute penalty after Conor Coady’s reckless tackle brought down substitute Ismaila Sarr. Mateta scored the equaliser, a blow for Leicester after they were on their way to a hard-fought victory at Selhurst Park. Both teams are still winless this season but Palace will be grateful for the point after overturning a two-goal deficit.

Glasner made three changes to the side that drew with Chelsea, with new signings Maxence Lacroix and Eddie Nketiah making their debuts in place of Chris Richards and Daichi Kamada. Cheick Doucouré made his first league start of the season, with Will Hughes on the bench.

Leicester made one change from the side that lost at home to Aston Villa, preferring Mavididi to Abdul Fatawu, while Jordan Ayew faced his former club after leaving Palace in the summer.

Ayew missed a clear chance in the first five minutes when he half-volleyed a Wilfred Ndidi cross over the bar. Leicester’s bright start continued and Ayew was played in by Oliver Skipp, but he ran too wide and was unable to finish the attack.

Nketiah looked lively on his debut after joining from Arsenal, but the striker was unable to direct his header on target from Tyrick Mitchell’s cross. Palace threatened and Eberechi Eze, who had just played for England during the international break, set up Daniel Muñoz, but the Colombian was denied by Wout Faes’s tackle. Mads Hermansen had no trouble parrying a long-range shot from Nketiah that was aimed straight at the visitors’ goalkeeper.

Leicester scored the first goal midway through the first half: Ndidi lobbed the ball over the defence and Vardy got to the ball before Marc Guéhi, went around Dean Henderson and shot into the empty net.

Doucouré fired a low shot from the edge of the box but Hermansen was effortlessly behind the ball and the frustration grew in a game that marked 100 years of football at Selhurst Park. Faes tried to stop Palace’s effort and the defender stuck out a leg to block Nketiah’s effort.

Nketiah looked Palace’s most likely goalscorer and the 25-year-old attempted an ambitious overhead kick but his effort missed the target. Leicester came under increasing pressure but the newly promoted club escaped when Eze danced his way into the box and fired his shot just wide of Hermansen’s far post.

Leicester’s attacks were less frequent, but they were dangerous on the counterattack. Mavididi could have doubled the lead after Vardy played him free when Guéhi completely missed a long ball. The winger shot wide and Palace were relieved not to have conceded a second goal before half-time.

But the second half began disastrously for them and they fell even further behind. Nathaniel Clyne failed to clear James Justin’s cross and Mavididi smashed the ball home from close range after another pass from Ndidi.

The hosts reacted immediately, however, and Mateta converted Mitchell’s cross. The offside flag was raised, but after a lengthy VAR review, Justin was ruled to have the striker offside, and Palace were able to save themselves.

Palace pressed for an equaliser and Nketiah came agonisingly close when he flicked a dangerous shot just wide of Hermansen’s post. At the other end, Leicester were still dangerous, with counter-attacks and Skipp exchanging passes with Vardy, but Henderson was alert and was able to avert the danger. Substitute Fatawu even attempted a spectacular effort from the halfway line, but his shot went wide.

Desperate for a respite, Glasner’s team were awarded a last-minute penalty after Coady brought down Sarr. Mateta sent Hermansen into the wrong corner and Palace avoided defeat while Leicester regretted their recklessness.