His replacement, Gordon Ross, missed two difficult penalty chances that would have given them a deserved lead at the break.
Had two more difficult penalty attempts gone over, Sarries would have led by more than 6-3 at half-time.
Wilkinson recorded England's only points at the Stade de France, with two penalties A real low moment for Wilkinson, who kicked two penalties and a conversion before injuring his back and collapsing in pain after missing a difficult penalty.
Then Canada flyhalf Ander Monro scored a try and missed the conversion, but he landed a more difficult penalty goal in the 79th minute as the two teams drew for the second Cup in a row.
"I had a chat with the kickers and we decided that as it was a difficult penalty (from 30 metres, wide on the right), we would go for the lineout," said Robshaw at the end of an evening when the place-kickers Owen Farrell and Dan Biggar had landed 15 kicks out of 15 between them.
Madigan snapped back three points with a difficult penalty from the left, before Kilcoyne forced another scrum penalty out of Mike Ross and Keatley's kick split the posts.
The Irish international was off-target with a difficult penalty before the break and after Palis put his side in front, Madigan struck the upright with a more straightforward attempt on 46 minutes.
Michalak missed a difficult penalty attempt on the stroke of half-time and France, for whom skipper Thierry Dusautoir had been tireless in defence in a losing cause, were booed off by their fans.
To make life more difficult, the penalties for direct debit can be arbitrary.
Now that obtaining sodium thiopental is becoming more difficult, death penalty states are switching to pentobarbital, the drug manufactured by Lundbeck.
