Thomas Bjorn's side took a 10-6 lead into the singles but saw three of the first five matches go to Jim Furyk's Team USA.
Rory McIlroy, sent out first by Bjorn with the task of leading the European march, suffered a devastating final hole meltdown in his defeat to Justin Thomas.
And hero Tommy Fleetwood was hammered 6&4 by towering American Tony Finau.
But Spain's Jon Rahm put Europe within touching distance by birdieing the 17th to down a dismal Tiger Woods.
The American – who completed golf's greatest ever comeback just seven days before – left Paris without a point.
Europe's triumph sees them reclaim the trophy lost two years ago in Hazeltine – and means the Americans have not won in Europe for 25 years.
Hero Rahm, who was so overcome with emotion he started crying on the 17th green, was not even born then.
Earlier in the day, Justin Rose lost 3&2 to Webb Simpson and Bjorn must have been feeling a bit twitchy.
But Bjorn’s fellow Great Dane Thorbjorn Olesen, who featured just once before the singles, thrashed Jordan Spieth 5&4.
Mr Ryder Cup Ian Poulter had a chance to put Europe one point away from the magical 14.5 points needed to win the cup.
But he missed a six foot putt for birdie on 17 against Dustin Johnson to take his game down the last.
The Postman delivered when it mattered most, however, nailing his iron shot to ten foot on the last to win the match one up and make it 13.5 – 9.5
Open champion Francesco Molinari made par on 15 – guaranteeing two halves from Sergio Garcia and Henrik Stenson.
That assured Europe of the 14.5 they needed.
Mickelson then pulled his tee shot on the par-three 16th into the water, conceding to hero Molinari who won 4&2.
Speaking after the win, Bjorn said: “I had faith in the team. I knew they would deliver but they delivered more than they should have.
“Our team wanted it so much this week and that’s why they did what they did.”
Asked how good the party was going to be, a beaming Bjorn replied: “Very!”
(eIan Poulter danced the evening away after helping Europe to victoryMolinari added: “This means more than Majors, more than anything. It’s been an incredible week. The team spirit has been the best I have been a part of."
Stenson went on to hammer Bubba Watson 5&4 and Garcia's eventual 2&1 win over Rickie Fowler took it to 16.5 – 9.5.
Fleetwood was carried on the shoulders of fans like a rock star, Stenson was soaked in champagne by wife Emma and Garcia got a huge kiss from wife Angela.
And there was particular reason to celebrate for controversial wildcard pick Garcia.
He overtook Sir Nick Faldo as Europe's all-time leading points scorer on 25.5 points after seeing off Fowler.
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