Lithuania took an early lead but Slovakia levelled five minutes before the break as the two teams settled for a point each in FIFA World Cup qualifying Group G.
Robbie Keane missed a penalty in an action-packed game between Slovakia and the Republic of Ireland which finished 1-1, both sides missing chances to take all three points.
Slovakia may have lost in the Round of 16, but coach Vladimir Weiss, his namesake and son, and goalkeeper Jan Mucha were very proud of their campaign.
After conceding a last-gasp equaliser to New Zealand and losing to Paraguay, Slovakia coach Vladimir Weiss admits that morale is low in his side's camp, but they are determined to finish the group stage on a high.
Slovakia may have been left devastated by a late New Zealand equaliser in their South Africa 2010 opener but the central Europeans have taken heart from their performance.
Slovakia shook off neighbours and arch-rivals Czech Republic with a 2-1 win in a FIFA World Cup qualifier in Prague on Wednesday evening.