Jack Butland denied the hosts with several impressive saves, while Danilo hit the crossbar at the other end late in the game but there was nothing to separate the sides in this Group C match.
For Rangers, there were two changes from the weekend’s 4-0 victory over Hibernian which also saw a change of formation for Philippe Clement’s side.
An injury to Borna Barisic ruled him out for this match, with the manager opting to go for a back three in Prague as John Souttar, Connor Goldson and Ben Davies lined up in front of Jack Butland.
John Lundstram, Nico Raskin and Todd Cantwell were in midfield, with the width provided by captain James Tavernier and Abdallah Sima, while Cyriel Dessers and Sam Lammers led the line at the Etep Arena.
The first real chance of this match fell to the home side inside the opening five minutes, but they were denied a breakthrough by a fantastic double save from Jack Butland.
Veljko Birmancevic drove into the Rangers box playing a one-two with Jan Kuchta before curling a shot towards goal which Butland was able to get a strong hand to. On the rebound, Qazim Laci struck a powerful effort on target, but the Rangers number one was again on hand to keep the ball out of the back of the net with another fine block.
From a corner taken by Veljko Birmancevi, Laci had another go at goal as the midfielder drilled a shot from the edge of the box but this time it was wide of Butland’s right-hand post.
The hosts were looking threatening, but Rangers were standing strong with John Souttar alert to clear a dangerous ball into the box from Adam Karabec.
Butland pulled off another good save as the game approached the half hour mark with Laci lifting the ball towards goal but Butland managed to scoop it away before Veljko Birmancevic hit the side netting shortly after in another attacking move from the reigning Czech champions.
From a Ben Davies corner, John Lundstram managed to get a shot at goal from the edge of the box however he was unable to keep it on target as it drifted just wide of the post.
With just minutes of the first-half remaining, Sparta had another chance this time through Jan Kuchta but it was over the bar to leave the game level at the break.
At the start of the second-half, a good move almost opened up an opportunity for Rangers. Todd Cantwell did well to weave through the Sparta midfield before picking out James Tavernier on the right. The captain returned the ball to Cantwell who lifted it into the path of Cyriel Dessers but Sparta goalkeeper Peter Vindhal gathered.
From a Sparta corner, Ben Davies was able to get his head to an effort from Martin Vitik as the home side continued to push for an opening goal.
Jan Kuchta flashed a low strike just inches wide of the target as the game approached the hour mark in Prague, before at the other end John Lundstram had a left-footed effort held by Peter Vindhal.
Philippe Clement turned to his bench for the first time with 64 minutes on the clock as Todd Cantwell was replaced by Scott Wright. Wright and Lammers both had strikes over the target as Rangers looked to find a break in the pressure from the home side.
The manager made a change in attack with 15 minutes of the match remaining as Danilo was introduced in place of Cyriel Dessers.
Rangers had a good opportunity through Lammers as he was denied by a save from Vindhal, before Danilo also forced a save from the Sparta goalkeeper as he tipped a powerful strike from Brazilian onto the crossbar and out for a Rangers corner but they were unable to find an opening as it ended goalless in Prague.
RANGERS: Butland, Tavernier, Goldson, Souttar, Davies, Lundstram, Cantwell (Wright, 64), Raskin, Sima, Lammers, Dessers (Danilo, 73).
Subs: McCrorie, K. Wright, Jack, King, Devine, McCausland, Fraser, Lyall, McKinnon.
Sparta Prague: Vindahl, Preciado (Wiesner, 26), Kairinen, Kuchta, Karabec (Olatunji, 65), Birmancevic (Pesek, 74), Laci (Sadilek, 65), Sorensen, Panak, Rynes, Vitik.
Subs: Vorel, Surovcik, Gomez, Pavelka, Mejdr, Vydra, Sevcik, Sejk.