It was in the 12th minute of the first half between the Netherlands and Sweden that goalkeeper van Veenendaal collided with two teammates.
A few minutes later, the 32-year-old needed to be replaced by Daphne van Domselaar.
It is now clear that the shoulder injury will prevent Sari van Veenendaal from continuing to play in the European Championships.
"Terrible news," said Dutch national team captain Mark Parsons in a statement on the federation's website.
The Netherlands meet Portugal on Wednesday.