BERLIN—Fears of a terrorist bombing led Germany to cancel a highly anticipated national-team soccer game on Tuesday less than two hours before it was to start, underscoring the sense of siege across Europe following the Paris attacks.

About 20 minutes after fans started filing into a stadium with a capacity of 49,000 people in the city of Hannover on Tuesday night, the authorities canceled the German team’s game against the Netherlands and ordered an evacuation. Heavily armed police moved through the area around the stadium...