The result brought the Czechs' six-match unbeaten run to an end in their final warm-up game before they open their finals account against Russia in Wroclaw next Friday.
Balazs Dzsudzsak shocked the hosts by giving the visitors a seventh minute lead when he fired home a 20-yard free-kick after Tomas Sivok was penalised for a foul on Jozsef Varga.
But the Czech Republic were level in the 24th minute when Michal Kadlec powered home from the penalty spot following Roland Juhasz's foul on Milan Baros.
With the game drifting towards a draw, late substitute Adam Gyurcso came off the bench to score an 88th minute winner for Hungary, drilling home a low shot after a Peter Halmosi cross from the left.
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